diff --git a/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-privileged--brqkauh.json b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-privileged--brqkauh.json new file mode 100644 index 0000000000000000000000000000000000000000..80558b88292452264ad1447a65acb7ff84a09330 --- /dev/null +++ b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-privileged--brqkauh.json @@ -0,0 +1,623 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-alpine-slalom-i00-privileged--brqkauh", + "taskKey": "embodied-olympics-fun/alpine_slalom", + "dag_sha256": "0382103c21732bd9a43317e1385d02d1f88b24ff2896d1d6062c6a895ff37a48", + "outcome": { + "success": 0, + "reward": 0.0588, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 1273, + "sim_steps": 1273, + "horizon": 9000, + "episode_over": 1, + "progress": 0.0588, + "stages_reached": 2, + "stages_total": 34, + "fell": 0, + "replay_s": 24.83, + "bad_trajectory": 0, + "metric_gates": 1.0, + "metric_speed_m_s": 11.212, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 317, + "agent_resets": 0, + "agent_replays": 5, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-alpine-slalom-i00-privileged--brqkauh/replay.mp4", + "duration_s": 12.76, + "fps": 25.0, + "frames": 319, + "sha256": "80c1532cd2c86fa21f65736f5e7b9ce14063ecfa5c20eee6cfe59e393306cf3a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 33, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "gate_1_passed": { + "method": "visual", + "intervals": [ + [ + 10.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.4, + "log_step": 316, + "text_zh": "观察：视频4.0–4.8 s机器人双脚带雪板从红色起点线处向坡下移动；视频10.4–11.3 s机器人滑过第一对红杆。log step 316为最终重新生成的交付文件回放，裁判阶段仅列start、gate 1，记录首门事件于仿真10.784 s。" + }, + { + "t": 10.8, + "log_step": 316, + "text_zh": "推断：最终文件1273个控制步×0.01 s＝仿真12.73 s，与视频12.76 s片长吻合；裁判起滑事件仿真4.352 s在视频约4.4 s红线处核对一致，首门事件仿真10.784 s也与视频10.8 s红杆处相符，故将首门到达锚定在视频10.8 s。四个受检点精确过线由该文件裁判记录确认，固定远景无法分别辨认。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频0–10.8 s机器人双脚经固定雪板支承在起滑平台及雪坡上，双腿迈动后滑向第1门。" + } + ] + }, + "gate_2_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.9, + "log_step": 316, + "text_zh": "观察：视频11.6–12.72 s机器人仍沿下坡滑行，未横移进入下一对蓝杆间，末帧仍以雪板支承。log step 316最终文件回放报告missed a gate、gate=2，四个受检点left_tip、right_tip、left_foot、right_foot均未过第2门，阶段止于gate 1；评分器metric_gates=1、fell=0。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频10.8–12.72 s机器人双脚经固定雪板支承在雪坡上继续下滑，双腿分开、躯干保持抬起，尝试向下一门行进。" + } + ] + }, + "gate_3_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第3门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_4_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第4门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_5_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第5门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_6_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第6门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_7_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第7门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_8_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第8门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_9_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第9门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_10_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第10门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_11_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第11门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_12_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第12门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_13_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第13门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_14_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第14门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_15_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第15门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_16_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第16门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_17_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第17门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_18_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第18门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_19_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第19门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_20_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第20门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_21_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第21门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_22_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第22门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_23_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第23门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_24_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第24门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_25_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第25门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_26_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第26门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_27_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第27门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_28_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第28门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_29_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第29门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_30_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第30门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_31_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第31门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "gate_32_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s本次机器人仍在前几道旗门附近；log step 316最终交付文件的裁判阶段仅start、gate 1，并在第2门漏门后立即结束，评分器metric_gates=1。第32门需依序完成前置门，因此本次未达到该节点；不以远景不可辨本身判断。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.72, + "log_step": 316, + "text_zh": "推断：视频12.72 s机器人仍在赛道前段，log step 316最终交付回放仅通过第1门并因漏第2门结束，评分器metric_gates=1；未完成32门前置，也未越过终点。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "gates", + "unit": "count", + "threshold": 32, + "direction": "higher_better", + "value": 1.0 + }, + { + "name": "speed_m_s", + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better", + "value": 11.212 + }, + { + "name": "time_s", + "unit": "s", + "threshold": null, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "gate_2_passed", + "t": 11.9, + "log_step": 316, + "where": "操作中", + "evidence_zh": "观察：视频约11.9 s机器人向下坡通过第二道旗门所在区域，却沿首门一侧继续滑行，没有进入蓝色两杆之间；到视频12.72 s仍未修复。log step 316最终交付文件裁判记录gate 2四个受检点漏门，并在仿真12.729 s判missed a gate；这是完成第2门期间的路线失败。" + }, + "unmet": { + "gate_1_passed": true, + "gate_2_passed": false, + "gate_3_passed": false, + "gate_4_passed": false, + "gate_5_passed": false, + "gate_6_passed": false, + "gate_7_passed": false, + "gate_8_passed": false, + "gate_9_passed": false, + "gate_10_passed": false, + "gate_11_passed": false, + "gate_12_passed": false, + "gate_13_passed": false, + "gate_14_passed": false, + "gate_15_passed": false, + "gate_16_passed": false, + "gate_17_passed": false, + "gate_18_passed": false, + "gate_19_passed": false, + "gate_20_passed": false, + "gate_21_passed": false, + "gate_22_passed": false, + "gate_23_passed": false, + "gate_24_passed": false, + "gate_25_passed": false, + "gate_26_passed": false, + "gate_27_passed": false, + "gate_28_passed": false, + "gate_29_passed": false, + "gate_30_passed": false, + "gate_31_passed": false, + "gate_32_passed": false, + "finish_crossed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 11.9, + "log_step": 316, + "evidence_zh": "观察：视频11.6–12.72 s机器人继续滑行、身体未倒地，却未向相反侧横移进第2道蓝色旗门。最终文件裁判在log step 316仅记1门，并点名第2门四个受检点均漏过；评分器fell=0。表现为滑行路线偏离所需门区。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 253所读交付生成脚本使用行走控制器起滑，随后切换到跑步控制器，给定转向命令并叠加髋滚转反馈及加宽站距；目标是右转进入第2门而非选错门。log step 203将已保存的同一文件逐行回放，报告控制步索引1179时骨盆x=20.51 m、y=3.45 m，索引1217时x=24.05 m、y=3.39 m，均留在正y侧，而第2门要求负y区间[-4.8,-0.8] m；该回放终态哈希与log step 316最终文件相同。结合视频11.6–12.72 s的偏航迹象，现有控制未实现所需横向转弯。证据不足以细分为参数、反馈跟踪或接触设计问题。" + } + ], + "gap_zh": "无逐帧状态日志；固定远景中双脚和两板尖很小，首门四点验收及后续未达依赖最终交付文件的裁判阶段记录，并已与视频位置和时长核对。无法可靠确认手掌是否触雪，也不能从画面分解转弯不足的关节跟踪、板刃或力学原因，根因只标控制。原生比赛净用时time_s未在评分器metrics中报告，回放time_s=12.73是回合时长，不冒充净比赛用时。" + }, + "summary_zh": "机器人自行起滑并于视频约10.8 s通过第1门，最终完成1/33个DAG节点；评分器的2/34原生阶段还包含起滑阶段。视频约11.9–12.72 s机器人继续下滑但未横移进入第2门，最终交付文件裁判明确判漏第2门、未摔倒；已知转向目标下的横向控制未奏效。固定远景无法逐一辨认四个过门受检点，精确验收由该文件确定性回放记录补足，控制子类仍不确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频、最终回放记录一致：第1门约视频10.8 s通过（裁判仿真10.784 s），第2门漏门，断点gate_2_passed，步态+控制的归因有证据支持，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:42:03Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-privileged--brqkauh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-privileged--brqkauh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fd471c55cd25f82b6231cc9acd5ddd1a599845382b62ad40114f6b0c3e8f74e8", + "video_sha256": "80c1532cd2c86fa21f65736f5e7b9ce14063ecfa5c20eee6cfe59e393306cf3a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-privileged--f7ufkge.json b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-privileged--f7ufkge.json new file mode 100644 index 0000000000000000000000000000000000000000..b25c8a52a5c0214a85d59c1d1809c8004646c56a --- /dev/null +++ b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-privileged--f7ufkge.json @@ -0,0 +1,612 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-alpine-slalom-i00-privileged--f7ufkge", + "taskKey": "embodied-olympics-fun/alpine_slalom", + "dag_sha256": "0382103c21732bd9a43317e1385d02d1f88b24ff2896d1d6062c6a895ff37a48", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 2000, + "sim_steps": 2000, + "horizon": 9000, + "episode_over": 1, + "progress": 0.0, + "stages_reached": 0, + "stages_total": 34, + "fell": 0, + "replay_s": 21.58, + "bad_trajectory": 0, + "metric_speed_m_s": 0.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 48, + "agent_resets": 0, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.094, + "peak_processes": 13, + "peak_disk_gb": 0.241, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-alpine-slalom-i00-privileged--f7ufkge/replay.mp4", + "duration_s": 20.04, + "fps": 25.0, + "frames": 501, + "sha256": "67d1a068a500bb7899eb599daca5066a642519fa7876786e26753b6d3380f434" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 33, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "gate_1_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.5, + "log_step": null, + "text_zh": "观察：视频 0.0–4.0 s 的起点放大帧显示，机器人由站立逐渐屈髋、上身俯低，双脚和雪板仍留在起点红线上坡侧，没有向第一对红杆滑行。" + }, + { + "t": 20.0, + "log_step": 79, + "text_zh": "观察：视频 10.0、19.0、19.6、20.0 s，机器人保持起点处的屈身姿态，双脚未越过红线。log step 77 保存了2000行动作；log step 79 对该交付文件的回放报告 failed=\"did not start\"、stages=[]、executed_rows=2000，评分器 reward.stages_reached=0、fell=0，与画面相符。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.25–4.0 s 及19.0–20.0 s，机器人双脚经各自固定雪板支承在雪面上，以腿和躯干屈身调姿尝试起滑，但雪板未把双脚带过起点红线。" + } + ] + }, + "gate_2_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第2门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_3_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第3门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_4_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第4门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_5_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第5门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_6_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第6门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_7_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第7门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_8_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第8门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_9_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第9门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_10_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第10门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_11_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第11门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_12_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第12门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_13_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第13门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_14_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第14门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_15_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第15门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_16_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第16门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_17_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第17门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_18_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第18门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_19_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第19门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_20_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第20门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_21_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第21门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_22_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第22门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_23_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第23门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_24_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第24门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_25_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第25门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_26_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第26门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_27_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第27门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_28_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第28门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_29_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第29门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_30_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第30门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_31_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第31门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "gate_32_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频 0.0–20.0 s 的全程抽帧以及视频 19.0–20.0 s 的密集末秒帧显示机器人一直在起点红线上坡侧，未滑入任何旗门区域；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。故第32门及其过门前置条件均未达成，未尝试此门。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.0, + "log_step": 79, + "text_zh": "推断：视频全程抽帧及视频 19.0–20.0 s 的末秒帧中，机器人始终留在起点红线上坡侧，未驶入赛道；log step 79 对交付文件的回放报告 stages=[]、failed=\"did not start\"，评分器 reward.stages_reached=0。因此32门的前置条件与越过终点均未达成，未尝试此步。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "gates", + "unit": "count", + "threshold": 32, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_m_s", + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better", + "value": 0.0 + }, + { + "name": "time_s", + "unit": "s", + "threshold": null, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "gate_1_passed", + "t": 3.5, + "log_step": 77, + "where": "操作中", + "evidence_zh": "观察：视频 1.25–3.5 s，机器人持续屈身调姿却未将双脚带过起点红线，随后至视频 20.0 s 仍停在原处，未向第一门行进；首门判据包含自行起滑。log step 77 保存的2000步轨迹及 log step 79 对同一文件的回放均报告 did not start。视频约3.5 s 是屈身后停住的导航锚点。" + }, + "unmet": { + "gate_1_passed": false, + "gate_2_passed": false, + "gate_3_passed": false, + "gate_4_passed": false, + "gate_5_passed": false, + "gate_6_passed": false, + "gate_7_passed": false, + "gate_8_passed": false, + "gate_9_passed": false, + "gate_10_passed": false, + "gate_11_passed": false, + "gate_12_passed": false, + "gate_13_passed": false, + "gate_14_passed": false, + "gate_15_passed": false, + "gate_16_passed": false, + "gate_17_passed": false, + "gate_18_passed": false, + "gate_19_passed": false, + "gate_20_passed": false, + "gate_21_passed": false, + "gate_22_passed": false, + "gate_23_passed": false, + "gate_24_passed": false, + "gate_25_passed": false, + "gate_26_passed": false, + "gate_27_passed": false, + "gate_28_passed": false, + "gate_29_passed": false, + "gate_30_passed": false, + "gate_31_passed": false, + "gate_32_passed": false, + "finish_crossed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 3.5, + "log_step": 79, + "evidence_zh": "观察：视频 0.0–4.0 s，机器人从站立变为上身俯低、双腿弯曲的姿态，雪板只有小幅位移，双脚没有越过红线；视频 10.0 s 以及19.0–20.0 s 姿态与位置基本不再变化，始终未滑入赛道。log step 79 的交付回放为 did not start，评分器 reward.fell=0；本次受评尝试是起滑行进不足。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 66 的生成脚本以逐渐增大双侧 hip_pitch 目标来尝试从平台起滑，log step 72 改用 joints，log step 77 将这些命令经 s.step 记录并保存；log step 79 验证该文件仍未起滑。视频 1.25–4.0 s 对应可见的屈身动作，随后一直停在起点，说明交付的关节运动方案未产生所需的前向滑移。现有证据支持起滑控制未奏效，不能确定具体增益、接触力或反馈环节。" + } + ], + "gap_zh": "观察：inputs/ 中没有状态日志；固定远景放大后可判断机器人始终未出发，但不能测定雪板接触力、重心和关节跟踪误差，因此控制根因不细分。log step 79 后的试滑、深蹲和摔倒属于会话测试，log step 98 确认交付仍为2000行文件，未将测试中的摔倒用于本次现象。原生 gates 和 time_s 未在 run.json 的 reward 中直接报告，按规则记为null。" + }, + "summary_zh": "受评轨迹只在起点屈身调姿，始终未将双脚带过红线，32道旗门及终点均未达成，最终为0/33。断点为通过第1门所包含的起滑阶段：关节调姿未产生足够前向滑移，现象为步态，根因保留为控制；交付回放明确报告 did not start。没有状态日志，接触力和具体控制失效环节无法细分，会话后续测试中的摔倒不属于受评轨迹。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频0–20 s 机器人只在起点屈身，未越过红线，gate_1 起所有节点为假、0/33 与评分器 stages_reached=0 一致；断点、步态现象和控制根因有证据支持，未发现需改动之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:40:07Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-privileged--f7ufkge/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-privileged--f7ufkge/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d8f24005340e823d30e334f9e46d7fc883faa17345570a304e3a35d797cc2a42", + "video_sha256": "67d1a068a500bb7899eb599daca5066a642519fa7876786e26753b6d3380f434", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-privileged--ldigmmt.json b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-privileged--ldigmmt.json new file mode 100644 index 0000000000000000000000000000000000000000..d2188ff3e36093e5ebb802b70483bed3be666a8a --- /dev/null +++ b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-privileged--ldigmmt.json @@ -0,0 +1,669 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-alpine-slalom-i00-privileged--ldigmmt", + "taskKey": "embodied-olympics-fun/alpine_slalom", + "dag_sha256": "0382103c21732bd9a43317e1385d02d1f88b24ff2896d1d6062c6a895ff37a48", + "outcome": { + "success": 0, + "reward": 0.0882, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 1192, + "sim_steps": 1192, + "horizon": 9000, + "episode_over": 1, + "progress": 0.0882, + "stages_reached": 3, + "stages_total": 34, + "fell": 0, + "replay_s": 15.23, + "bad_trajectory": 0, + "metric_gates": 2.0, + "metric_speed_m_s": 10.227, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 85, + "agent_resets": 33, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 2.882, + "peak_processes": 14, + "peak_disk_gb": 0.265, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-alpine-slalom-i00-privileged--ldigmmt/replay.mp4", + "duration_s": 11.96, + "fps": 25.0, + "frames": 299, + "sha256": "53b5dbcd011c14fa99e3362a410b304b3b575f6533ac77718ed8ebf40f08f8fe" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 33, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "gate_1_passed": { + "method": "visual", + "intervals": [ + [ + 8.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.6, + "log_step": null, + "text_zh": "观察：视频 8.2–9.0 s，机器人以双脚固定的雪板支承滑过第1对旗杆附近，随后继续下坡；inputs/run.json 的评分器 reward.metric_gates=2、stages_reached=3（起滑加前两门）、deterministic=1。" + }, + { + "t": 8.6, + "log_step": null, + "text_zh": "推断：结合视频中的门序、滑行位置和评分器两门计数，第1门已被裁判接受；视频约 8.6 s 为视觉过门锚点，误差约0.4秒。远景不能独立分清两脚和两板尖的各自越线瞬间，不把躯干越线单独当作验收。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 8.2–9.0 s，机器人双脚连着雪板在雪面上支承身体并滑行经过第1门；腿部随转向改变姿态。" + } + ] + }, + "gate_2_passed": { + "method": "visual", + "intervals": [ + [ + 9.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 9.8, + "log_step": null, + "text_zh": "观察：视频 9.4–10.2 s，机器人以双脚固定的雪板支承滑过第2对旗杆附近，随后继续下坡；inputs/run.json 的评分器 reward.metric_gates=2、stages_reached=3（起滑加前两门）、deterministic=1。" + }, + { + "t": 9.8, + "log_step": null, + "text_zh": "推断：结合视频中的门序、滑行位置和评分器两门计数，第2门已被裁判接受；视频约 9.8 s 为视觉过门锚点，误差约0.4秒。远景不能独立分清两脚和两板尖的各自越线瞬间，不把躯干越线单独当作验收。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 9.4–10.2 s，机器人双脚连着雪板在雪面上支承身体并滑行经过第2门；腿部随转向改变姿态。" + } + ] + }, + "gate_3_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.8, + "log_step": null, + "text_zh": "观察：视频 10.4–11.2 s，机器人在第二门后继续向第三对旗杆附近滑行；视频 11.92 s 仍直立，未见倒地。inputs/run.json 的评分器 reward.metric_gates=2、fell=0；远景帧无法分辨双脚和两板尖相对第三门两杆的具体位置。" + }, + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward.metric_gates=2，按 task/task_dag.json 的有序过门规则，第三门至少有一个受检点未按规则通过，且本回合内未修复；远景帧无法分辨具体漏检点及偏差位置。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 10.0–11.92 s，机器人以双脚及固定雪板支承于雪面并继续下坡；未见倒地。远景不足以确认第三门回转的具体动作和侧向偏差。" + } + ] + }, + "gate_4_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第4门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_5_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第5门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_6_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第6门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_7_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第7门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_8_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第8门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_9_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第9门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_10_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第10门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_11_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第11门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_12_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第12门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_13_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第13门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_14_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第14门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_15_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第15门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_16_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第16门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_17_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第17门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_18_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第18门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_19_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第19门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_20_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第20门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_21_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第21门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_22_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第22门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_23_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第23门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_24_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第24门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_25_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第25门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_26_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第26门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_27_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第27门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_28_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第28门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_29_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第29门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_30_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第30门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_31_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第31门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "gate_32_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：本次评分器 reward.metric_gates=2、stages_reached=3，视频 11.92 s 机器人仍在赛道早段；第3门未完成且未修复。按有序验收与 after 链，第32门不可能已被裁判接受，故整个视频内此事件未达成。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.92, + "log_step": null, + "text_zh": "推断：视频 11.92 s 机器人仍在早段旗门区，尚未到达终点；评分器 reward.metric_gates=2、stages_reached=3，未达到32门及终点的有序验收，故终点事件未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "gates", + "value": 2.0, + "unit": "count", + "threshold": 32, + "direction": "higher_better" + }, + { + "name": "speed_m_s", + "value": 10.227, + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better" + }, + { + "name": "time_s", + "value": null, + "unit": "s", + "threshold": null, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "gate_3_passed", + "t": 10.8, + "log_step": null, + "where": "操作中", + "evidence_zh": "推断：inputs/run.json 的评分器 reward.metric_gates=2、fell=0，按 task/task_dag.json 的有序过门规则，第三门至少有一个受检点未按规则通过，是第一处未修复的过门失败。视频约 10.8 s 仅作为机器人接近第三门附近的导航锚点；远景帧无法分辨具体偏差位置或精确失败瞬间。观察：视频 11.92 s 机器人仍直立，未见倒地。" + }, + "unmet": { + "gate_1_passed": true, + "gate_2_passed": true, + "gate_3_passed": false, + "gate_4_passed": false, + "gate_5_passed": false, + "gate_6_passed": false, + "gate_7_passed": false, + "gate_8_passed": false, + "gate_9_passed": false, + "gate_10_passed": false, + "gate_11_passed": false, + "gate_12_passed": false, + "gate_13_passed": false, + "gate_14_passed": false, + "gate_15_passed": false, + "gate_16_passed": false, + "gate_17_passed": false, + "gate_18_passed": false, + "gate_19_passed": false, + "gate_20_passed": false, + "gate_21_passed": false, + "gate_22_passed": false, + "gate_23_passed": false, + "gate_24_passed": false, + "gate_25_passed": false, + "gate_26_passed": false, + "gate_27_passed": false, + "gate_28_passed": false, + "gate_29_passed": false, + "gate_30_passed": false, + "gate_31_passed": false, + "gate_32_passed": false, + "finish_crossed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 10.8, + "log_step": null, + "evidence_zh": "推断：inputs/run.json 的评分器 reward.metric_gates=2、fell=0，结合视频 10.4–11.92 s 机器人继续下坡且未见倒地，第三门的行进要求未完成，保留全身·步态；这依据有序过门计数，并非观察到步态或平衡异常。远景帧无法分辨具体漏检点或偏离哪一侧。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 233 的最终 gen.py 通过髋、膝、踝关节目标及横向位置、速度方向、骨盆滚转和偏航反馈控制雪板回转，目标明确为交替过门；log step 234 启动该脚本生成交付文件，log step 238 自述交付1192个控制步，与评分器 n_actions=1192 一致。视频 10.4–11.92 s 中机器人继续下坡且未见倒地，评分器 reward.metric_gates=2 表明第三门的完整过门要求未实现；结合交付脚本的过门目标，保守推断为回转运动控制未实现所需路线，具体侧向偏差不能从远景中确认。现有证据不能隔离具体增益、接触载荷或反馈环节，保留控制总类。", + "source_zh": "日志 / 视频 / 评分器字段" + } + ], + "gap_zh": "无状态日志。固定远景中双脚和板尖仅占少量像素，前两门的接受由本次评分器有序计数支持，视频过门时间约有0.4秒误差；第三门未达成由评分器两门计数推断，远景无法确定具体漏检点、偏离哪一侧、侧向偏差数值及精确判负时刻，也未见独立的步态或平衡异常。已对照成功参考录像，其同一固定视角后段同样不能逐点辨认；参考录像不作为本次达成证据。日志包含大量重置及参数试验，未将这些试验的跌倒、碰杆或门数用于本次节点标签；缺少最终交付逐步遥测，无法确定控制失败的更细机制。" + }, + "summary_zh": "机器人自行起滑并通过前两道门，最终完成2/33个DAG节点（评分器的3/34个原生阶段另含起滑）。根据评分器 reward.metric_gates=2，推断第三门至少有一个受检点未按规则通过且未修复；视频约 10.8 s 仅为接近第三门的导航锚点，至视频 11.92 s 仍未见倒地，结合最终控制脚本保守推断根因为控制。固定远景和缺失状态日志使具体偏差位置、受检点及精确过门时刻无法辨认，现象与根因依赖推断，故置信度从7降至5；原生比赛用时未报告。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "前两门的节点值与时间（约8.6 s / 9.8 s，评分器 metric_gates=2）与视频一致，无状态日志。问题在第三门：标签把“从近侧门杆外继续下滑”写成视频观察，但固定远景分辨率下机器人只有几像素，11.4–11.92 s 帧中看不出它在杆外；该判断只能来自评分器计数（推断），步态现象与断点证据也据此需降级。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "第一轮问题已修正：前两门由评分器 metric_gates=2 支持，第三门为断点，侧向偏差均标为推断，根因保守为控制，与证据一致。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:47:19Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-privileged--ldigmmt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-privileged--ldigmmt/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-privileged--ldigmmt/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-privileged--ldigmmt/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a09e490cda42021bc26dd243f06e7b7b1e5b30adca410ba5e9f21c9f8dd04389", + "video_sha256": "53b5dbcd011c14fa99e3362a410b304b3b575f6533ac77718ed8ebf40f08f8fe", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-privileged--oqgxgoi.json b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-privileged--oqgxgoi.json new file mode 100644 index 0000000000000000000000000000000000000000..a1e651614d84dacb23e9c9b9cb0a0f8d288e86a0 --- /dev/null +++ b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-privileged--oqgxgoi.json @@ -0,0 +1,636 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-alpine-slalom-i00-privileged--oqgxgoi", + "taskKey": "embodied-olympics-fun/alpine_slalom", + "dag_sha256": "0382103c21732bd9a43317e1385d02d1f88b24ff2896d1d6062c6a895ff37a48", + "outcome": { + "success": 0, + "reward": 0.0588, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 1258, + "sim_steps": 1258, + "horizon": 9000, + "episode_over": 1, + "progress": 0.0588, + "stages_reached": 2, + "stages_total": 34, + "fell": 0, + "replay_s": 13.14, + "bad_trajectory": 0, + "metric_gates": 1.0, + "metric_speed_m_s": 11.086, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 120, + "agent_resets": 0, + "agent_replays": 4, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 2.692, + "peak_processes": 31, + "peak_disk_gb": 1.003, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-alpine-slalom-i00-privileged--oqgxgoi/replay.mp4", + "duration_s": 12.6, + "fps": 25.0, + "frames": 315, + "sha256": "1cf2e496705ed0599b0007370b1b7c17b11db2d3ee6f3ce72b879c1ffe864ef4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 33, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "gate_1_passed": { + "method": "visual", + "intervals": [ + [ + 10.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.4, + "log_step": 119, + "text_zh": "观察：视频3.8–4.8 s机器人以双脚固定的雪板支撑，向起点红线前进并越线，随后滑下坡；log step 119生成最终交付文件时裁判记录start事件，事件仿真时间4.352 s。" + }, + { + "t": 10.7, + "log_step": 152, + "text_zh": "观察：视频9.8–10.68 s机器人保持站立，雪板滑向并越过第一对旗杆所在门线；最终交付文件回放的裁判阶段为[start, gate 1]（log step 152），评分器metric_gates=1。四个受检点的精细越线判定以该文件裁判结果为依据。" + }, + { + "t": 10.7, + "log_step": 119, + "text_zh": "推断：首门达到时间取视频约10.7 s。log step 119生成的交付文件记录首门事件仿真10.658 s；log step 152回放执行1258个控制步，每步0.01 s，共仿真12.58 s，与视频12.6 s长度及视频4.4 s起点越线、视频10.68 s首门附近位置吻合。此处仅用同一交付回合的控制时钟辅助定位，不使用agent工作时间。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频0–10.68 s机器人双脚经固定雪板支撑雪面，先挪步出发，再屈腿站立滑过首门。" + } + ] + }, + "gate_2_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.6, + "log_step": 119, + "text_zh": "观察：视频10.68–12.56 s机器人过首门后继续下滑，未见转入下一道交替横向旗门的通道，末帧仍站立；log step 119的交付生成脚本在gate 1通过后把目标切换到第2门侧。" + }, + { + "t": 12.56, + "log_step": 152, + "text_zh": "观察：最终交付文件回放的裁判返回failed=missed a gate、stages=[start, gate 1]、gates=1，并在1258个控制步后终止（log step 152）；评分器fell=0、deterministic=1。第2门没有达到；视频末段滑行与该结果一致。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频10.68–12.56 s机器人双脚仍经雪板支撑在坡面上，保持站立滑向下坡，尝试转向第2门但未进入其通道。" + } + ] + }, + "gate_3_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第3门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第3门。" + } + ] + }, + "gate_4_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第4门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第4门。" + } + ] + }, + "gate_5_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第5门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第5门。" + } + ] + }, + "gate_6_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第6门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第6门。" + } + ] + }, + "gate_7_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第7门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第7门。" + } + ] + }, + "gate_8_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第8门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第8门。" + } + ] + }, + "gate_9_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第9门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第9门。" + } + ] + }, + "gate_10_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第10门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第10门。" + } + ] + }, + "gate_11_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第11门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第11门。" + } + ] + }, + "gate_12_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第12门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第12门。" + } + ] + }, + "gate_13_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第13门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第13门。" + } + ] + }, + "gate_14_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第14门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第14门。" + } + ] + }, + "gate_15_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第15门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第15门。" + } + ] + }, + "gate_16_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第16门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第16门。" + } + ] + }, + "gate_17_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第17门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第17门。" + } + ] + }, + "gate_18_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第18门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第18门。" + } + ] + }, + "gate_19_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第19门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第19门。" + } + ] + }, + "gate_20_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第20门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第20门。" + } + ] + }, + "gate_21_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第21门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第21门。" + } + ] + }, + "gate_22_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第22门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第22门。" + } + ] + }, + "gate_23_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第23门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第23门。" + } + ] + }, + "gate_24_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第24门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第24门。" + } + ] + }, + "gate_25_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第25门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第25门。" + } + ] + }, + "gate_26_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第26门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第26门。" + } + ] + }, + "gate_27_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第27门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第27门。" + } + ] + }, + "gate_28_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第28门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第28门。" + } + ] + }, + "gate_29_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第29门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第29门。" + } + ] + }, + "gate_30_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第30门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第30门。" + } + ] + }, + "gate_31_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第31门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第31门。" + } + ] + }, + "gate_32_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：第32门未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成第32门。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.56, + "log_step": 152, + "text_zh": "推断：终点未达到。最终交付文件的裁判回放仅记录start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、stages_reached=2。视频全程及视频12.56 s末帧只显示机器人滑过早段旗门区域，第2门未通过，按有序前置关系不可能完成终点。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "gates", + "value": 1.0, + "unit": "count", + "threshold": 32, + "direction": "higher_better" + }, + { + "name": "speed_m_s", + "value": 11.086, + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better" + }, + { + "name": "time_s", + "value": null, + "unit": "s", + "threshold": null, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "gate_2_passed", + "t": 11.6, + "log_step": 152, + "where": "操作中", + "evidence_zh": "推断：断点是通过第2门。视频10.68 s首门附近到视频11.6 s、12.56 s，机器人持续站立下滑，却未完成向下一道交替旗门的横向切入；此后没有修复。最终交付回放只锁存start和gate 1，并以missed a gate终止（log step 152）；评分器metric_gates=1、fell=0，故失效步骤是第2门，视频11.6 s作为偏离过程的近似导航锚点。" + }, + "unmet": { + "gate_1_passed": true, + "gate_2_passed": false, + "gate_3_passed": false, + "gate_4_passed": false, + "gate_5_passed": false, + "gate_6_passed": false, + "gate_7_passed": false, + "gate_8_passed": false, + "gate_9_passed": false, + "gate_10_passed": false, + "gate_11_passed": false, + "gate_12_passed": false, + "gate_13_passed": false, + "gate_14_passed": false, + "gate_15_passed": false, + "gate_16_passed": false, + "gate_17_passed": false, + "gate_18_passed": false, + "gate_19_passed": false, + "gate_20_passed": false, + "gate_21_passed": false, + "gate_22_passed": false, + "gate_23_passed": false, + "gate_24_passed": false, + "gate_25_passed": false, + "gate_26_passed": false, + "gate_27_passed": false, + "gate_28_passed": false, + "gate_29_passed": false, + "gate_30_passed": false, + "gate_31_passed": false, + "gate_32_passed": false, + "finish_crossed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 11.6, + "log_step": 152, + "evidence_zh": "观察：视频10.68–12.56 s机器人保持雪板支撑及站立姿态持续下滑，没有完成下一门所需的横向换向，滑行路线偏离第2门通道；最终文件裁判回放报告missed a gate，仅通过1门（log step 152），评分器fell=0。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 119, + "source_zh": "日志 / 视频 / 评分器字段", + "evidence_zh": "推断：agent的滑雪转向控制未能实现第2门所需的横向换向。log step 119交付生成代码按gates_passed选择当前门，以门侧横向目标±2 m和速度航向误差计算双髋偏航，同时保持双髋侧倾±0.10 rad的支撑姿态，说明控制目标确实切换到第2门；但同一文件经log step 121、142、152回放均只通过首门，且视频10.68–12.56 s显示持续下滑而未完成切入。证据支持控制能力不足，未足以区分具体反馈律、关节响应或雪板接触设计子类。" + } + ], + "gap_zh": "输入没有逐帧状态日志；本次与成功参考录像均为固定远景，后退的机器人较小，无法直接辨清两脚及两板尖四点的精确越线时刻，也无法定量还原关节响应和雪面接触力。首门四点验收和后续未达依据最终交付文件的裁判阶段及metric_gates=1，首门视频时间约有0.2 s不确定性；log step 128、138等是其他参数的会话诊断，未当作本次逐帧状态。" + }, + "summary_zh": "机器人自行越过起点，并在视频约10.7 s通过第1门，最终完成1/33个DAG节点；随后保持站立下滑但未切入第2门，交付回放以漏门结束。控制脚本虽按门序切换横向目标，实际转向未完成所需换向，故断点为第2门、现象为全身步态偏离，根因标为控制。无逐帧状态日志且录像为固定远景，四个受检点的精细验收依赖同一交付文件的裁判结果，不能确定更细的控制原因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "gate_1 达到、gate_2 起未达到与评分器 stages=[start, gate 1]、metric_gates=1 一致；时钟用同一交付回合的控制步映射并给出核对，断点 gate_2、步态现象与控制根因有日志与裁判字段支撑，未发现需改内容的错误。固定远景下机器人很小，帧无法独立确认细节。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:42:52Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + 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"resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 6.993, + "peak_processes": 20, + "peak_disk_gb": 0.248, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-alpine-slalom-i00-privileged--q4lfqnl/replay.mp4", + "duration_s": 77.4, + "fps": 25.0, + "frames": 1935, + "sha256": "b4518f76c634e1c9cad16c083ceba6aca52d7ac40346ac16a0e0c2bfc997a3f5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 33, + "base": null, + "peak": null, + "final": 33, + "nodes": { + "gate_1_passed": { + "method": "visual", + "intervals": [ + [ + 11.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": null, + "log_step": 80, + "text_zh": "观察：评分器 reward.metric_gates=32、stages_reached=34/34、success=1、replay_success=1；log step 77 保存最终交付轨迹，log step 80 的两次独立校验器回放均报告 gates=32、终阶段 finish、success=True，且终态哈希相同。推断：按本任务必须依次过门的裁判规则，第1道门已通过并锁存。" + }, + { + "t": 11.3, + "log_step": null, + "text_zh": "观察：视频 10.8–11.6 s 的密集抽帧中，机器人以双腿分开、两板贴雪的姿态滑过第1对旗杆所在区域，随后继续向下一门滑行。推断：结合最终裁判通过32门，将本门首次通过近似定位在视频 11.3 s，误差约0.5 s；远景不能独立分辨四个受检点的精确越线先后。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 10.8–11.6 s 中，机器人双脚所连雪板贴着雪面滑行，双腿分开支承身体通过第1门；未见上肢参与支承。" + } + ] + }, + "gate_2_passed": { + "method": "visual", + "intervals": [ + [ + 13.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": null, + "log_step": 80, + "text_zh": "观察：评分器 reward.metric_gates=32、stages_reached=34/34、success=1、replay_success=1；log step 77 保存最终交付轨迹，log step 80 的两次独立校验器回放均报告 gates=32、终阶段 finish、success=True，且终态哈希相同。推断：按本任务必须依次过门的裁判规则，第2道门已通过并锁存。" + }, + { + "t": 13.8, + "log_step": null, + "text_zh": "观察：视频 13.2–14.0 s 的密集抽帧中，机器人以双腿分开、两板贴雪的姿态滑过第2对旗杆所在区域，随后继续向下一门滑行。推断：结合最终裁判通过32门，将本门首次通过近似定位在视频 13.8 s，误差约0.5 s；远景不能独立分辨四个受检点的精确越线先后。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 13.2–14.0 s 中，机器人双脚所连雪板贴着雪面滑行，双腿分开支承身体通过第2门；未见上肢参与支承。" + } + ] + }, + "gate_3_passed": { + "method": "visual", + "intervals": [ + [ + 15.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": null, + "log_step": 80, + "text_zh": "观察：评分器 reward.metric_gates=32、stages_reached=34/34、success=1、replay_success=1；log step 77 保存最终交付轨迹，log step 80 的两次独立校验器回放均报告 gates=32、终阶段 finish、success=True，且终态哈希相同。推断：按本任务必须依次过门的裁判规则，第3道门已通过并锁存。" + }, + { + "t": 15.6, + "log_step": null, + "text_zh": "观察：视频 14.8–16.2 s 的密集抽帧中，机器人以双腿分开、两板贴雪的姿态滑过第3对旗杆所在区域，随后继续向下一门滑行。推断：结合最终裁判通过32门，将本门首次通过近似定位在视频 15.6 s，误差约0.5 s；远景不能独立分辨四个受检点的精确越线先后。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 14.8–16.2 s 中，机器人双脚所连雪板贴着雪面滑行，双腿分开支承身体通过第3门；未见上肢参与支承。" + } + ] + }, + "gate_4_passed": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 80, + "text_zh": "观察：评分器 reward.metric_gates=32、stages_reached=34/34、success=1、replay_success=1；log step 77 保存最终交付轨迹，log step 80 的两次独立校验器回放均报告 gates=32、终阶段 finish、success=True，且终态哈希相同。推断：按本任务必须依次过门的裁判规则，第4道门已通过并锁存。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：已检查全片约每2秒抽帧、视频 17–30 s 的放大帧和视频 76.4–77.36 s 的密集末段帧；固定远景中的机器人逐渐缩小，后段无法辨认双脚、板尖及对应门线。推断：最终完成值由裁判记录决定，但本门首次过门的视频时间无法可靠定位，intervals 留 null；未按门间距或平均速度插值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：固定远景无法分辨本门附近双脚及雪板与雪面的接触细节；本门已尝试并通过由最终裁判门数支持，实际接触方式不能逐门从画面确认。" + } + ] + }, + "gate_5_passed": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 80, + "text_zh": "观察：评分器 reward.metric_gates=32、stages_reached=34/34、success=1、replay_success=1；log step 77 保存最终交付轨迹，log step 80 的两次独立校验器回放均报告 gates=32、终阶段 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"contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：固定远景无法分辨本门附近双脚及雪板与雪面的接触细节；本门已尝试并通过由最终裁判门数支持，实际接触方式不能逐门从画面确认。" + } + ] + }, + "gate_28_passed": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 80, + "text_zh": "观察：评分器 reward.metric_gates=32、stages_reached=34/34、success=1、replay_success=1；log step 77 保存最终交付轨迹，log step 80 的两次独立校验器回放均报告 gates=32、终阶段 finish、success=True，且终态哈希相同。推断：按本任务必须依次过门的裁判规则，第28道门已通过并锁存。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：已检查全片约每2秒抽帧、视频 17–30 s 的放大帧和视频 76.4–77.36 s 的密集末段帧；固定远景中的机器人逐渐缩小，后段无法辨认双脚、板尖及对应门线。推断：最终完成值由裁判记录决定，但本门首次过门的视频时间无法可靠定位，intervals 留 null；未按门间距或平均速度插值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：固定远景无法分辨本门附近双脚及雪板与雪面的接触细节；本门已尝试并通过由最终裁判门数支持，实际接触方式不能逐门从画面确认。" + } + ] + }, + "gate_29_passed": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 80, + "text_zh": "观察：评分器 reward.metric_gates=32、stages_reached=34/34、success=1、replay_success=1；log step 77 保存最终交付轨迹，log step 80 的两次独立校验器回放均报告 gates=32、终阶段 finish、success=True，且终态哈希相同。推断：按本任务必须依次过门的裁判规则，第29道门已通过并锁存。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：已检查全片约每2秒抽帧、视频 17–30 s 的放大帧和视频 76.4–77.36 s 的密集末段帧；固定远景中的机器人逐渐缩小，后段无法辨认双脚、板尖及对应门线。推断：最终完成值由裁判记录决定，但本门首次过门的视频时间无法可靠定位，intervals 留 null；未按门间距或平均速度插值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：固定远景无法分辨本门附近双脚及雪板与雪面的接触细节；本门已尝试并通过由最终裁判门数支持，实际接触方式不能逐门从画面确认。" + } + ] + }, + "gate_30_passed": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 80, + "text_zh": "观察：评分器 reward.metric_gates=32、stages_reached=34/34、success=1、replay_success=1；log step 77 保存最终交付轨迹，log step 80 的两次独立校验器回放均报告 gates=32、终阶段 finish、success=True，且终态哈希相同。推断：按本任务必须依次过门的裁判规则，第30道门已通过并锁存。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：已检查全片约每2秒抽帧、视频 17–30 s 的放大帧和视频 76.4–77.36 s 的密集末段帧；固定远景中的机器人逐渐缩小，后段无法辨认双脚、板尖及对应门线。推断：最终完成值由裁判记录决定，但本门首次过门的视频时间无法可靠定位，intervals 留 null；未按门间距或平均速度插值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：固定远景无法分辨本门附近双脚及雪板与雪面的接触细节；本门已尝试并通过由最终裁判门数支持，实际接触方式不能逐门从画面确认。" + } + ] + }, + "gate_31_passed": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 80, + "text_zh": "观察：评分器 reward.metric_gates=32、stages_reached=34/34、success=1、replay_success=1；log step 77 保存最终交付轨迹，log step 80 的两次独立校验器回放均报告 gates=32、终阶段 finish、success=True，且终态哈希相同。推断：按本任务必须依次过门的裁判规则，第31道门已通过并锁存。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：已检查全片约每2秒抽帧、视频 17–30 s 的放大帧和视频 76.4–77.36 s 的密集末段帧；固定远景中的机器人逐渐缩小，后段无法辨认双脚、板尖及对应门线。推断：最终完成值由裁判记录决定，但本门首次过门的视频时间无法可靠定位，intervals 留 null；未按门间距或平均速度插值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：固定远景无法分辨本门附近双脚及雪板与雪面的接触细节；本门已尝试并通过由最终裁判门数支持，实际接触方式不能逐门从画面确认。" + } + ] + }, + "gate_32_passed": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 80, + "text_zh": "观察：评分器 reward.metric_gates=32、stages_reached=34/34、success=1、replay_success=1；log step 77 保存最终交付轨迹，log step 80 的两次独立校验器回放均报告 gates=32、终阶段 finish、success=True，且终态哈希相同。推断：按本任务必须依次过门的裁判规则，第32道门已通过并锁存。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：已检查全片约每2秒抽帧、视频 17–30 s 的放大帧和视频 76.4–77.36 s 的密集末段帧；固定远景中的机器人逐渐缩小，后段无法辨认双脚、板尖及对应门线。推断：最终完成值由裁判记录决定，但本门首次过门的视频时间无法可靠定位，intervals 留 null；未按门间距或平均速度插值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：固定远景无法分辨本门附近双脚及雪板与雪面的接触细节；本门已尝试并通过由最终裁判门数支持，实际接触方式不能逐门从画面确认。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 80, + "text_zh": "观察：log step 77 保存最终轨迹并返回 success=True；log step 78 确认交付文件有7738行动行；log step 80 的两次独立校验器回放均返回 success=True、failed=None、终阶段 finish、gates=32、time_s=73.028，终态哈希一致。评分器 success=1、replay_success=1、deterministic=1。推断：本次交付已在裁判接受条件内通过终点。" + }, + { + "t": 77.36, + "log_step": null, + "text_zh": "观察：视频 76.4–77.36 s 的密集末段帧及视频 77.36 s 原帧仍是起点方向的固定远景，机器人和终点双脚越线细节不可辨认。推断：不能从最后一帧或机器人消失定位首次通过终点的视频时刻，intervals 留 null；评分器 time_s=73.028 是起滑后的净比赛用时，未当作视频时间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：终点不在固定远景的可辨范围，无法从末段帧确认机器人越过终点时的具体支承接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "gates", + "unit": "count", + "threshold": 32, + "direction": "higher_better", + "value": 32.0 + }, + { + "name": "speed_m_s", + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better", + "value": 5.169 + }, + { + "name": "time_s", + "unit": "s", + "threshold": null, + "direction": "lower_better", + "value": 73.028 + } + ], + "failure": null, + "summary_zh": "观察：机器人自行起滑并在前段保持双板贴雪、分腿支承滑行；评分器及 log step 80 的两次独立交付回放均确认依次通过32道旗门并到达终点，33/33个节点最终完成，净比赛用时73.028秒。推断：本次受评轨迹成功，无失败断点，会话内其他试验的摔倒和漏门不属于这次交付。观察：视频为固定远景，无状态日志，也无独立参考录像；前三门的视频时间仅能近似定位，后续逐门及终点的首次达成时间、逐门接触细节均无法可靠辨认，故相应 intervals 留 null、contact_actual 标未知，最终完成值依据裁判记录。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，33/33节点最终为true与评分器（32门、stages 34/34、未摔倒）一致；前三门有近似时间，后续门依赖裁判记录留null、contact_actual标未知，合理。无失败断点。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:40:35Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-privileged--q4lfqnl/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-privileged--q4lfqnl/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ca123b6af674ae4ce515fff7be00115a08d8ec18e1fce88b3cb1d8c4c19157fc", + "video_sha256": "b4518f76c634e1c9cad16c083ceba6aca52d7ac40346ac16a0e0c2bfc997a3f5", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-privileged--rspvxxi.json b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-privileged--rspvxxi.json new file mode 100644 index 0000000000000000000000000000000000000000..dce5682453e02076a237ca6028f7ce6498b2c222 --- /dev/null +++ b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-privileged--rspvxxi.json @@ -0,0 +1,679 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-alpine-slalom-i00-privileged--rspvxxi", + "taskKey": "embodied-olympics-fun/alpine_slalom", + "dag_sha256": "0382103c21732bd9a43317e1385d02d1f88b24ff2896d1d6062c6a895ff37a48", + "outcome": { + "success": 0, + "reward": 0.0882, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 1350, + "sim_steps": 1350, + "horizon": 9000, + "episode_over": 1, + "progress": 0.0882, + "stages_reached": 3, + "stages_total": 34, + "fell": 1, + "replay_s": 13.86, + "bad_trajectory": 0, + "metric_gates": 2.0, + "metric_speed_m_s": 10.965, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 216, + "agent_resets": 55, + "agent_replays": 3, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.874, + "peak_processes": 10, + "peak_disk_gb": 0.269, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-alpine-slalom-i00-privileged--rspvxxi/replay.mp4", + "duration_s": 13.52, + "fps": 25.0, + "frames": 338, + "sha256": "0fb53d4fd2a1d115a7f96c97e84b43081b411893ad94a4ed178b2773d80a1307" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 33, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "gate_1_passed": { + "method": "visual", + "intervals": [ + [ + 11.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 11.2, + "log_step": null, + "text_zh": "观察：视频 10.8–11.48 s，机器人以双脚固定的雪板支承滑行，穿过第1对旗杆所在区域后继续下坡；远景不足以独立分辨四个受检点的越线顺序。" + }, + { + "t": 11.2, + "log_step": 285, + "text_zh": "观察：log step 285 是对已交付 trajectory.npz 的官方回放结果，裁判 stages 含 start、gate 1、gate 2；第1门事件记录为仿真 11.152 s。最终评分器也报告 metric_gates=2、stages_reached=3、deterministic=1，与该回放一致。" + }, + { + "t": 11.2, + "log_step": 7, + "text_zh": "推断：log step 7 的控制周期为0.01秒，交付回放的1350控制步对应13.50秒，与视频13.52秒总长及视频13.48 s倒地末帧核对一致；结合所看片段，将第1门达成定位到视频 11.2 s，精度约0.1秒。此前已接受的过门事件锁存至结束。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚经各自固定的雪板在雪面承重滑行，以双腿和躯干调整姿态通过第1门；无手持工具。" + } + ] + }, + "gate_2_passed": { + "method": "visual", + "intervals": [ + [ + 12.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 12.4, + "log_step": null, + "text_zh": "观察：视频 12.2–12.60 s，机器人以双脚固定的雪板支承滑行，穿过第2对旗杆所在区域后继续下坡；远景不足以独立分辨四个受检点的越线顺序。" + }, + { + "t": 12.4, + "log_step": 285, + "text_zh": "观察：log step 285 是对已交付 trajectory.npz 的官方回放结果，裁判 stages 含 start、gate 1、gate 2；第2门事件记录为仿真 12.421 s。最终评分器也报告 metric_gates=2、stages_reached=3、deterministic=1，与该回放一致。" + }, + { + "t": 12.4, + "log_step": 7, + "text_zh": "推断：log step 7 的控制周期为0.01秒，交付回放的1350控制步对应13.50秒，与视频13.52秒总长及视频13.48 s倒地末帧核对一致；结合所看片段，将第2门达成定位到视频 12.4 s，精度约0.1秒。此前已接受的过门事件锁存至结束。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚经各自固定的雪板在雪面承重滑行，以双腿和躯干调整姿态通过第2门；无手持工具。" + } + ] + }, + "gate_3_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.1, + "log_step": null, + "text_zh": "观察：视频12.6–13.48 s，机器人离开第2门区域后继续朝后续旗门滑行，朝向快速改变，视频约13.1 s开始明显倾倒，视频13.4–13.48 s身体横倒，未恢复滑行姿态。" + }, + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：log step 285 的交付回放只接受前两门，随后裁判以 fell 终止，最终评分器 metric_gates=2、fell=1；结合视频末段倒地，依顺序验收的第3门从未被接受。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频12.6–13.0 s机器人双脚经固定雪板支承在雪面上，双腿及躯干参与向第3门滑行和转向；随后失衡倒下。" + } + ] + }, + "gate_4_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第4门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_5_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第5门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_6_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第6门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_7_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第7门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_8_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第8门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_9_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第9门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_10_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第10门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_11_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第11门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_12_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第12门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_13_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第13门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_14_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第14门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_15_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第15门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_16_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第16门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_17_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第17门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_18_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第18门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_19_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第19门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_20_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第20门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_21_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第21门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_22_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第22门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_23_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第23门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_24_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第24门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_25_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第25门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_26_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第26门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_27_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第27门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_28_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第28门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_29_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第29门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_30_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第30门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_31_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第31门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "gate_32_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.4–13.48 s机器人已在前段旗门区域横倒；log step 285 的交付回放 stages 仅为 start、gate 1、gate 2，并以 fell 结束，最终评分器 metric_gates=2。第32门的顺序前置未达成，因此该门从未被接受，本次未开始该门的工作。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 13.48, + "log_step": 285, + "text_zh": "推断：视频13.48 s机器人仍横倒在前段旗门区域；log step 285 的交付回放仅接受前两门，随后以 fell 结束，未记录 finish。32门前置未完成，故越过终点节点未达成；画面中的黑色拱架是起点。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "gates", + "unit": "count", + "threshold": 32, + "direction": "higher_better", + "value": 2.0 + }, + { + "name": "speed_m_s", + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better", + "value": 10.965 + }, + { + "name": "time_s", + "unit": "s", + "threshold": null, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "gate_3_passed", + "t": 13.1, + "log_step": 285, + "where": "操作中", + "evidence_zh": "观察：视频12.6–13.48 s机器人在通过第2门后继续向后续旗门滑行并转向，视频约13.1 s明显倾倒，视频13.4–13.48 s横倒且未恢复；log step 285 的交付回放只接受 start、gate 1、gate 2，裁判随后以 fell 终止（仿真13.50 s，骨盆高度0.34米）。第3门是正在推进而最终未完成的步骤。" + }, + "unmet": { + "gate_1_passed": true, + "gate_2_passed": true, + "gate_3_passed": false, + "gate_4_passed": false, + "gate_5_passed": false, + "gate_6_passed": false, + "gate_7_passed": false, + "gate_8_passed": false, + "gate_9_passed": false, + "gate_10_passed": false, + "gate_11_passed": false, + "gate_12_passed": false, + "gate_13_passed": false, + "gate_14_passed": false, + "gate_15_passed": false, + "gate_16_passed": false, + "gate_17_passed": false, + "gate_18_passed": false, + "gate_19_passed": false, + "gate_20_passed": false, + "gate_21_passed": false, + "gate_22_passed": false, + "gate_23_passed": false, + "gate_24_passed": false, + "gate_25_passed": false, + "gate_26_passed": false, + "gate_27_passed": false, + "gate_28_passed": false, + "gate_29_passed": false, + "gate_30_passed": false, + "gate_31_passed": false, + "gate_32_passed": false, + "finish_crossed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 13.1, + "log_step": 285, + "evidence_zh": "观察：视频12.8–13.48 s机器人在雪板滑行中快速转身，躯干逐渐偏离直立支承姿态，视频约13.1 s明显倾倒，视频13.4–13.48 s横倒在雪面附近；log step 285 的交付回放判 fell、骨盆高度0.34米，最终评分器 fell=1。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 284展示交付生成器以航向误差和航向角速度反馈联动踝、髋、腰及膝关节转向；log step 287的同一控制器诊断代码及log step 292的测试输出显示，目标航向已限制在28.6度，控制步1260–1269仍以饱和转向命令推进，控制步1286–1295虽已反向饱和，实际航向仍从58.3度增长到83.5度。该诊断属于会话测试，用于解释控制器的过冲，未将其作为节点进度；结合视频12.8–13.48 s转身后倾倒及交付回放的fell，归因为转向反馈未抑制旋转并维持全身稳定。尚不能确定具体哪个增益或关节贡献主导。" + } + ], + "gap_zh": "没有逐帧状态日志；本次视频和成功参考视频均为固定远景，无法独立分清两板尖与双脚四点的精确越线和倒地时最先接触雪面的部位。前两门的细判据由已交付文件的官方回放事件及最终评分补充，视频时间以所看片段核对；根因还使用了同一生成器的会话诊断，缺少受力和姿态轨迹，不能进一步确定具体参数或接触力机制。" + }, + "summary_zh": "机器人自行起滑后，在视频约11.2 s、12.4 s依次通过前两门，最终完成2/33个节点；交付回放与最终评分均确认仅通过2门并摔倒结束。向第3门滑行转向时，机器人在视频约13.1 s明显失衡，至视频13.4–13.48 s横倒，断点为通过第3门；同一生成器的航向过冲诊断支持转向反馈控制失稳。无逐帧状态日志，固定远景无法分辨四个受检点和精细接触，过门细节依靠已核对的裁判事件补充。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点进度（前两门达成、第3门起断点、13.1 s起倒地）与视频和裁判回放一致，无需改动；但根因“反馈控制”依赖会话内测试诊断，而交付物是已保存的开环轨迹文件，该归因缺少被认可的证据。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "前两门达成、第3门起为断点、13.1 s起倒地与视频和裁判回放（metric_gates=2、fell=1）一致；上一轮关于反馈控制根因的意见已被标签方以03规则有据驳回，无新证据，不再重复。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:47:59Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-privileged--rspvxxi/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-privileged--rspvxxi/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-privileged--rspvxxi/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-privileged--rspvxxi/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c2e9fcdf5deb74639413fe27bde609033ba07ce5957198e059a704cb6c191c7d", + "video_sha256": "0fb53d4fd2a1d115a7f96c97e84b43081b411893ad94a4ed178b2773d80a1307", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-privileged--xrggpyx.json b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-privileged--xrggpyx.json new file mode 100644 index 0000000000000000000000000000000000000000..10646e9106e9772b95c496198bb5a956e5f9a83c --- /dev/null +++ b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-privileged--xrggpyx.json @@ -0,0 +1,615 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-alpine-slalom-i00-privileged--xrggpyx", + "taskKey": "embodied-olympics-fun/alpine_slalom", + "dag_sha256": "0382103c21732bd9a43317e1385d02d1f88b24ff2896d1d6062c6a895ff37a48", + "outcome": { + "success": 0, + "reward": 0.0294, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 730, + "sim_steps": 730, + "horizon": 9000, + "episode_over": 1, + "progress": 0.0294, + "stages_reached": 1, + "stages_total": 34, + "fell": 1, + "replay_s": 10.09, + "bad_trajectory": 0, + "metric_gates": 0.0, + "metric_speed_m_s": 4.882, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 149, + "agent_resets": 0, + "agent_replays": 5, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.915, + "peak_processes": 9, + "peak_disk_gb": 0.241, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-alpine-slalom-i00-privileged--xrggpyx/replay.mp4", + "duration_s": 7.32, + "fps": 25.0, + "frames": 183, + "sha256": "98a42422723b6dfbf2e879bd01c01689598612ac221d5fc460fb195268f570a0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 33, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "gate_1_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.4, + "log_step": null, + "text_zh": "观察：视频 0.0–6.4 s，机器人以双脚所连雪板支承在雪面上，从黑色起点拱架旁逐步向下坡移动；视频 6.4 s 仍在起点附近，未见双脚及两板尖通过第1道红色旗门。" + }, + { + "t": 7.28, + "log_step": 125, + "text_zh": "观察：视频 7.04–7.28 s，机器人躯干倾倒并降至接近雪面，未恢复站姿；log step 125 对最终730行交付文件的两次独立回放均报告 stages=[start]、gates=0、failed=fell，终态哈希相同；inputs/run.json 的评分字段 metric_gates=0、fell=1、deterministic=1 与画面相符，故首门未通过。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–6.8 s，机器人双脚各经固定雪板支承于雪面，腿部交替迈动并随雪板向下坡移动，尝试由起点进入首门路线；视频 7.04–7.28 s 躯干倾倒。远景不足以确定摔倒瞬间除雪板外的具体触雪部位。" + } + ] + }, + "gate_2_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第2门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_3_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第3门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_4_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第4门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_5_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第5门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_6_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第6门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_7_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第7门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_8_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第8门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_9_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第9门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_10_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第10门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_11_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第11门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_12_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第12门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_13_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第13门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_14_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第14门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_15_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第15门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_16_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第16门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_17_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第17门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_18_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第18门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_19_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第19门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_20_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第20门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_21_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第21门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_22_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第22门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_23_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第23门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_24_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第24门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_25_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第25门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_26_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第26门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_27_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第27门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_28_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第28门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_29_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第29门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_30_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第30门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_31_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第31门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "gate_32_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 0.0–7.28 s 机器人只从起点滑出后倾倒；log step 125 的最终交付文件回放明确报告 stages=[start]、gates=0，且评分字段 metric_gates=0。按旗门依次锁存及前置门依赖，第32门从未通过；此结论来自明确过门计数与受评画面，而非仅由失败分数推定。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.28, + "log_step": 125, + "text_zh": "推断：视频 7.28 s 机器人已在起点附近倾倒，未滑向终点；log step 125 的最终交付回放仅有 start 阶段、gates=0，评分字段 stages_reached=1/34、metric_gates=0。终点所需32道门前置均未达成，因此越过终点节点从未成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "gates", + "value": 0.0, + "unit": "count", + "threshold": 32, + "direction": "higher_better" + }, + { + "name": "speed_m_s", + "value": 4.882, + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better" + }, + { + "name": "time_s", + "value": null, + "unit": "s", + "threshold": null, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "gate_1_passed", + "t": 7.04, + "log_step": 125, + "where": "操作中", + "evidence_zh": "观察：机器人在视频 6.4–6.8 s 刚滑离起点拱架，视频 7.04–7.28 s 躯干明显倾倒、降至接近雪面，首门仍未通过，录像随即结束。log step 125 对最终交付轨迹的回放只记录 start 阶段并以 fell 结束，评分字段 gates=0、fell=1；该次起滑及向首门滑行是首门节点的工作，未在后续修复。" + }, + "unmet": { + "gate_1_passed": false, + "gate_2_passed": false, + "gate_3_passed": false, + "gate_4_passed": false, + "gate_5_passed": false, + "gate_6_passed": false, + "gate_7_passed": false, + "gate_8_passed": false, + "gate_9_passed": false, + "gate_10_passed": false, + "gate_11_passed": false, + "gate_12_passed": false, + "gate_13_passed": false, + "gate_14_passed": false, + "gate_15_passed": false, + "gate_16_passed": false, + "gate_17_passed": false, + "gate_18_passed": false, + "gate_19_passed": false, + "gate_20_passed": false, + "gate_21_passed": false, + "gate_22_passed": false, + "gate_23_passed": false, + "gate_24_passed": false, + "gate_25_passed": false, + "gate_26_passed": false, + "gate_27_passed": false, + "gate_28_passed": false, + "gate_29_passed": false, + "gate_30_passed": false, + "gate_31_passed": false, + "gate_32_passed": false, + "finish_crossed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 7.04, + "log_step": 125, + "evidence_zh": "观察：视频 6.8 s 机器人尚有直立躯干，视频 7.04–7.28 s 躯干迅速倾斜并接近横卧，未恢复支撑姿态；log step 125 的最终交付回放裁判事件为仿真 7.3 s failed=fell、pelvis_height_m=0.343，评分字段 fell=1。视频锚点取自所检查画面，未由 agent 工作时间换算。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "log_step": 125, + "t": 7.04, + "evidence_zh": "推断：log step 118、123、124 的最终生成脚本先用 walk 指令起滑，在骨盆 x>0 后切换关节PD控制，通过髋横滚、髋偏航反馈及渐变屈膝姿态维持滑行；log step 125 和 140 对该文件的重复生成与独立回放均复现730行、fell、相同终态哈希。结合视频 6.8–7.28 s 从滑行到倾倒，说明所交付控制未能在起点进入坡面的过程中维持姿态稳定；证据支持控制层面失败，尚不能单独锁定某项增益或接触设计。" + } + ], + "gap_zh": "本次无逐帧状态日志；已对照成功参考录像，但相同固定远景无法精确分辨板刃角、重心偏移及摔倒瞬间的触雪部位。节点未达成由本次明确的过门计数与终止画面共同确定；会话内其他初态、切换参数的调试结果未当作本次轨迹状态，关于具体失稳机制保留不确定性。" + }, + "summary_zh": "机器人自行起滑并进入首门路线，但在视频 7.04–7.28 s、仍靠近起点时倾倒，32道旗门及终点共33个节点均未完成。最终交付730行轨迹的多次回放一致，仅有 start 阶段，评分器报告 gates=0、fell=1；现象为全身平衡丧失，控制未能维持入坡姿态。缺少逐帧状态日志，固定远景不足以进一步确定具体板刃接触、反馈增益或失稳机制。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "逐帧核对：机器人约视频3–4 s越过起点红线，6.4 s穿过拱架后下滑，7.04–7.28 s倾倒，首门远未到达；gates=0、fell=1，33个节点全未达成，断点gate_1、现象平衡、根因控制均有证据支持，未发现需改动之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:42:27Z", + "review_prompt": 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a/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-standard--666le3z.json b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-standard--666le3z.json new file mode 100644 index 0000000000000000000000000000000000000000..f4fe09d867327d6fa5d6d89cb70f0784b6e7c753 --- /dev/null +++ b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-standard--666le3z.json @@ -0,0 +1,614 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-alpine-slalom-i00-standard--666le3z", + "taskKey": "embodied-olympics-fun/alpine_slalom", + "dag_sha256": "0382103c21732bd9a43317e1385d02d1f88b24ff2896d1d6062c6a895ff37a48", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, 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"intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第6门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_7_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第7门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_8_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第8门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_9_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第9门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_10_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第10门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_11_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第11门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_12_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第12门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_13_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第13门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_14_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第14门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_15_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第15门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_16_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第16门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_17_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第17门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_18_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第18门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_19_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第19门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_20_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第20门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_21_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第21门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_22_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第22门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_23_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第23门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_24_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第24门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_25_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第25门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_26_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第26门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_27_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第27门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_28_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第28门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_29_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第29门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_30_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第30门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_31_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第31门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "gate_32_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 机器人只从起点附近起滑，尚未到达第1旗门便侧倒，log step 57 服务确认第6回合失败结束；第1门未达，依DAG门序，第32门也从未达到，且未开始针对该门的行进。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 57, + "text_zh": "推断：视频 0.0–7.4 s 的受评回合只移动至起点拱架附近，末段侧倒，连第1道旗门也未到达；因此未满足先依次通过32门再越过终点的条件。log step 57 服务确认该第6回合已经失败结束。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "gates", + "unit": "count", + "threshold": 32, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_m_s", + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "time_s", + "unit": "s", + "threshold": null, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "gate_1_passed", + "t": 7.2, + "log_step": 55, + "where": "操作中", + "evidence_zh": "观察：视频 6.0–6.8 s 机器人在起点拱架附近继续向下坡移动，视频约 7.2–7.4 s 躯干降至接近雪面、双板向前伸出并侧倒，尚未到达第1道旗门，后续没有恢复。log step 52、55 的脚本正在以 walk 模式发送前进及向左横移指令；log step 57 服务确认第6回合失败结束。因此失败发生在通过第1门的行进途中。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 7.2, + "log_step": 55, + "evidence_zh": "观察：视频 6.4–6.8 s 机器人仍以双板支撑身体；视频约 7.12–7.4 s 身体从起点拱架立柱旁显露时已明显侧倾，随后躯干贴近雪面、双板伸出，直到末帧都未恢复站立。log step 57 的服务结果为 done=true、reason=failed；agent 自述该回合摔倒（log step 56、58），与所见失衡一致。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 47、48 的脚本先发送 walk 直行指令（vx=0.75，vy=0，wz=0），log step 52、55 改为保留前进并加入向左横移（vy=0.1，wz=0）；视频 6.0–6.8 s 尚有双板支撑，视频约 7.2–7.4 s 在继续滑行中侧倒。目标仍是向第1门行进，执行这些运动指令时未能维持身体支撑，故归为控制；没有足够证据细分为参数调试、反馈控制或接触设计。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志。固定远景分辨率低，视频约 6.9–7.2 s 机器人被起点拱架立柱局部遮挡，无法精确判定最先失去支撑或触雪的部位；本次最终横移动作的详细传感器与裁判返回在 log step 52、53、55 的 out 中为空，无法进一步确定控制失稳的机制。原生 gates、speed_m_s、比赛净用时 time_s 未由评分器字段报告，均留 null；不把全回合控制步数换成比赛净用时。", + "unmet": { + "gate_1_passed": false, + "gate_2_passed": false, + "gate_3_passed": false, + "gate_4_passed": false, + "gate_5_passed": false, + "gate_6_passed": false, + "gate_7_passed": false, + "gate_8_passed": false, + "gate_9_passed": false, + "gate_10_passed": false, + "gate_11_passed": false, + "gate_12_passed": false, + "gate_13_passed": false, + "gate_14_passed": false, + "gate_15_passed": false, + "gate_16_passed": false, + "gate_17_passed": false, + "gate_18_passed": false, + "gate_19_passed": false, + "gate_20_passed": false, + "gate_21_passed": false, + "gate_22_passed": false, + "gate_23_passed": false, + "gate_24_passed": false, + "gate_25_passed": false, + "gate_26_passed": false, + "gate_27_passed": false, + "gate_28_passed": false, + "gate_29_passed": false, + "gate_30_passed": false, + "gate_31_passed": false, + "gate_32_passed": false, + "finish_crossed": false + } + }, + "summary_zh": "受评的是最后一次重置后的第6回合：机器人已自行起滑，但视频全程仍在起点附近，未到达第1旗门，最终0/33个节点完成。视频约 7.2–7.4 s 机器人在向第1门行进时侧倒，断点为通过第1门，现象为全身平衡失败；结合 log step 47、48、52、55 的直行与横移指令，根因归为控制。没有状态日志，末段局部被起点拱架遮挡，不能进一步确定失稳的具体接触或控制机制。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "0/33 节点未达、断点为 gate_1_passed（起点附近侧倒）、平衡现象与控制根因均与视频和服务读数（done=true, reason=failed, control_steps=743）一致；未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:47:34Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-standard--666le3z/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-standard--666le3z/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e9bfa92814330a4f861afbca7210564b4ea8c1e6495f4c19ac90f11ff118bbb9", + "video_sha256": "62f1d4e35a6875cc18c2ff8169b81dc68b8421e82f91406d0e6230da7014ab3e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-standard--bmeevqs.json b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-standard--bmeevqs.json new file mode 100644 index 0000000000000000000000000000000000000000..895417a50730aa2565808552dcd7dfc1185f2a14 --- /dev/null +++ b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-standard--bmeevqs.json @@ -0,0 +1,619 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-alpine-slalom-i00-standard--bmeevqs", + "taskKey": "embodied-olympics-fun/alpine_slalom", + "dag_sha256": "0382103c21732bd9a43317e1385d02d1f88b24ff2896d1d6062c6a895ff37a48", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 2089, + "sim_steps": 8598, + "calls": 545, + "rows": 8598, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 1391.2, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.196, + "peak_processes": 9, + "peak_disk_gb": 0.276, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-alpine-slalom-i00-standard--bmeevqs/replay.mp4", + "duration_s": 20.92, + "fps": 25.0, + "frames": 523, + "sha256": "7aae9084bddf65341355f91917a8a9566d91248a4a73d0c68c92baff2e66650e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 33, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "gate_1_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 机器人双脚固定在雪板上，位于黑色起点拱架旁的红线前；视频全程反复俯身、伸臂、起身，直到视频 19.80–20.88 s 才在拱架下坡侧短距离滑行并侧倒，始终未到达远处第1道红色旗门。" + }, + { + "t": 20.88, + "log_step": 83, + "text_zh": "观察：log step 83 启动 episode 6，机器人服务返回的终局字段由脚本打印为 DONE fell 1；log step 84 确认同一 episode 6 已结束，control_steps=2089。视频 20.88 s 机器人仍倒在起点附近，与该终局一致；原生起点阶段不单列为DAG节点。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–20.60 s 机器人双脚经固定雪板支承在雪面上，反复屈伸并离开起点；视频 20.72–20.88 s 身体侧倒至雪面。" + }, + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "观察：视频 2.12、2.60、3.44、4.24、6.96、11.80、17.20 s 的放大画面中，机器人俯身将两臂末端拳垫压到雪面并反复前后摆动，配合雪板起滑；推断：结合 log step 81 的落拳、后划、抬拳循环及 log step 83 的执行记录，这是双拳触雪推进，未形成抓握。" + } + ] + }, + "gate_2_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第2道旗门所需的前序节点 gate_1_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_3_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第3道旗门所需的前序节点 gate_2_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_4_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第4道旗门所需的前序节点 gate_3_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_5_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第5道旗门所需的前序节点 gate_4_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_6_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第6道旗门所需的前序节点 gate_5_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_7_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第7道旗门所需的前序节点 gate_6_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_8_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第8道旗门所需的前序节点 gate_7_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_9_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第9道旗门所需的前序节点 gate_8_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_10_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第10道旗门所需的前序节点 gate_9_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_11_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第11道旗门所需的前序节点 gate_10_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_12_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第12道旗门所需的前序节点 gate_11_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_13_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第13道旗门所需的前序节点 gate_12_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_14_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第14道旗门所需的前序节点 gate_13_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_15_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第15道旗门所需的前序节点 gate_14_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_16_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第16道旗门所需的前序节点 gate_15_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_17_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第17道旗门所需的前序节点 gate_16_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_18_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第18道旗门所需的前序节点 gate_17_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_19_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第19道旗门所需的前序节点 gate_18_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_20_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第20道旗门所需的前序节点 gate_19_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_21_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第21道旗门所需的前序节点 gate_20_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_22_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第22道旗门所需的前序节点 gate_21_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_23_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第23道旗门所需的前序节点 gate_22_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_24_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第24道旗门所需的前序节点 gate_23_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_25_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第25道旗门所需的前序节点 gate_24_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_26_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第26道旗门所需的前序节点 gate_25_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_27_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第27道旗门所需的前序节点 gate_26_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_28_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第28道旗门所需的前序节点 gate_27_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_29_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第29道旗门所需的前序节点 gate_28_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_30_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第30道旗门所需的前序节点 gate_29_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_31_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第31道旗门所需的前序节点 gate_30_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "gate_32_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。第32道旗门所需的前序节点 gate_31_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.88, + "log_step": 83, + "text_zh": "推断：视频 0.00–20.88 s 机器人一直在起点附近，末段侧倒，未到达第1道旗门；log step 83 同一受评 episode 6 的服务终局为 fell、stages_reached=1。终点所需的前序节点 gate_32_passed 未达成，且机器人未滑至该目标，因此本节点全程未成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "gates", + "unit": "count", + "threshold": 32, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_m_s", + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "time_s", + "unit": "s", + "threshold": null, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "gate_1_passed", + "t": 20.6, + "log_step": 83, + "where": "操作中", + "evidence_zh": "观察：视频 19.80–20.40 s 机器人刚离开起点拱架附近并转动身体，视频 20.60 s 开始明显侧倾，视频 20.80–20.88 s 躯干降至雪面，仍远在第1道红色旗门上坡侧；log step 83 的机器人服务终局为 fell、stages_reached=1。首门节点包含自行起滑，机器人已实际推进并尝试滑向首门，失败发生在该步骤操作中。" + }, + "unmet": { + "gate_1_passed": false, + "gate_2_passed": false, + "gate_3_passed": false, + "gate_4_passed": false, + "gate_5_passed": false, + "gate_6_passed": false, + "gate_7_passed": false, + "gate_8_passed": false, + "gate_9_passed": false, + "gate_10_passed": false, + "gate_11_passed": false, + "gate_12_passed": false, + "gate_13_passed": false, + "gate_14_passed": false, + "gate_15_passed": false, + "gate_16_passed": false, + "gate_17_passed": false, + "gate_18_passed": false, + "gate_19_passed": false, + "gate_20_passed": false, + "gate_21_passed": false, + "gate_22_passed": false, + "gate_23_passed": false, + "gate_24_passed": false, + "gate_25_passed": false, + "gate_26_passed": false, + "gate_27_passed": false, + "gate_28_passed": false, + "gate_29_passed": false, + "gate_30_passed": false, + "gate_31_passed": false, + "gate_32_passed": false, + "finish_crossed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 20.6, + "log_step": 83, + "evidence_zh": "观察：视频 20.40、20.60、20.72、20.80、20.88 s 连续帧中，机器人由站在雪板上逐渐侧倾，身体倒至雪面，未恢复支撑姿态；log step 83 中机器人服务返回 fell，随后 log step 84 确认受评回合已结束。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：起滑到转向滑行的控制未稳定机器人朝向和姿态。log step 81 的控制脚本以固定关节插值反复落拳、后划、起身，起滑循环没有航向纠偏；log step 73 的后续滑行控制将航向误差直接限幅到 ±0.45 rad。log step 83 的脚本基于IMU打印，在仿真 20.34 s 航向约81°、目标约10°，随后转向命令持续为−0.45 rad而横滚读数从12°增至仿真 20.84 s 的80°；视频 20.40–20.88 s 的转身、侧倾及落地与之相符。证据支持控制失稳，尚不足以把具体转向符号、增益或接触载荷确定为单一原因。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志；固定远景中机器人像素较少，无法分辨各拳垫接触力、雪板刃载荷及最先触雪的身体部位，因此控制根因保留在上位类。run.json 的 reward 未报告 gates、speed_m_s、time_s 三个原生指标字段，指标值均留 null；未用脚本的速度积分或 agent 自述替代评分器指标。" + }, + "summary_zh": "受评的是 log step 83 重置后的第六次尝试：机器人反复俯身用双拳触雪推进，达到原生起点阶段，但没有通过任何旗门，DAG最终为0/33。视频约 20.60 s 机器人在起点下坡侧转向时侧倾，随后倒地；首门步骤在操作中因控制未稳住朝向和姿态而失败。缺少状态日志和接触力记录，无法进一步确定具体控制参数或载荷原因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "33个节点均未达成与视频一致：机器人直到约19.5 s才越过起点红线，20.6 s后侧倒，从未接近第1道旗门；断点gate_1_passed/操作中、平衡现象、控制根因均有视频和log step 83依据，时钟均为视频时间或明确标注的仿真时间。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:39:29Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-standard--bmeevqs/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-standard--bmeevqs/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5e69a1e7920682c143736bd66aef257ff4f69c9e73b31864f6715a24f3d76d6a", + "video_sha256": "7aae9084bddf65341355f91917a8a9566d91248a4a73d0c68c92baff2e66650e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-standard--dc3sbap.json b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-standard--dc3sbap.json new file mode 100644 index 0000000000000000000000000000000000000000..7718b4dee7d24d8cb2960d6311489a804861e119 --- /dev/null +++ b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-standard--dc3sbap.json @@ -0,0 +1,621 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-alpine-slalom-i00-standard--dc3sbap", + "taskKey": "embodied-olympics-fun/alpine_slalom", + "dag_sha256": "0382103c21732bd9a43317e1385d02d1f88b24ff2896d1d6062c6a895ff37a48", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 615, + "sim_steps": 6035, + "calls": 626, + "rows": 575, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 3654.9, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.306, + "peak_processes": 9, + "peak_disk_gb": 1.018, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-alpine-slalom-i00-standard--dc3sbap/replay.mp4", + "duration_s": 6.16, + "fps": 25.0, + "frames": 154, + "sha256": "0f7a76153f7c9ae19b500afe4130df5a66d457e64941d8ca250755f909e63fe6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 33, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "gate_1_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 149, + "text_zh": "观察：视频 2.0–3.8 s，机器人在起点红线旁屈膝、改变躯干俯仰和雪板支承姿态；没有滑至远处第1道红色旗门。log step 149 的最终回合脚本先等待，再执行双腿起滑动作、俯仰反馈及回站姿动作。" + }, + { + "t": 6.12, + "log_step": 150, + "text_zh": "观察：视频 4.0–6.12 s，机器人在原起点附近持续后仰，末帧仍未离开起点区域；log step 150 的机器人服务终结响应明确为 episode=6、outcome=fell、stages_reached=0/34。此处 stages_reached 是服务裁判已接受的原生阶段数，包含起点、32道门和终点，与DAG的33个节点分母不同。" + }, + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：最终回合的 control_steps=615、sim_time_s=6.15 对应每控制步0.01 s；其终结与视频 6.12 s 的后仰末帧及视频总长6.16 s相符。结合全程没有离开起点区域及裁判零阶段，可判定首门从未完成；log step 28、90 中较早回合的起点阶段不属于本次受评视频。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–3.8 s，机器人双脚经各自固定的雪板支承于起点雪面，双腿屈伸、躯干改变俯仰以尝试出发；视频约 4.0 s 起持续向后失衡。" + } + ] + }, + "gate_2_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第1门的顺序前置未达成，故第2门从未完成，也未被单独尝试。" + } + ] + }, + "gate_3_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第2门的顺序前置未达成，故第3门从未完成，也未被单独尝试。" + } + ] + }, + "gate_4_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第3门的顺序前置未达成，故第4门从未完成，也未被单独尝试。" + } + ] + }, + "gate_5_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第4门的顺序前置未达成，故第5门从未完成，也未被单独尝试。" + } + ] + }, + "gate_6_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第5门的顺序前置未达成，故第6门从未完成，也未被单独尝试。" + } + ] + }, + "gate_7_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第6门的顺序前置未达成，故第7门从未完成，也未被单独尝试。" + } + ] + }, + "gate_8_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第7门的顺序前置未达成，故第8门从未完成，也未被单独尝试。" + } + ] + }, + "gate_9_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第8门的顺序前置未达成，故第9门从未完成，也未被单独尝试。" + } + ] + }, + "gate_10_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第9门的顺序前置未达成，故第10门从未完成，也未被单独尝试。" + } + ] + }, + "gate_11_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第10门的顺序前置未达成，故第11门从未完成，也未被单独尝试。" + } + ] + }, + "gate_12_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第11门的顺序前置未达成，故第12门从未完成，也未被单独尝试。" + } + ] + }, + "gate_13_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第12门的顺序前置未达成，故第13门从未完成，也未被单独尝试。" + } + ] + }, + "gate_14_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第13门的顺序前置未达成，故第14门从未完成，也未被单独尝试。" + } + ] + }, + "gate_15_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第14门的顺序前置未达成，故第15门从未完成，也未被单独尝试。" + } + ] + }, + "gate_16_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第15门的顺序前置未达成，故第16门从未完成，也未被单独尝试。" + } + ] + }, + "gate_17_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第16门的顺序前置未达成，故第17门从未完成，也未被单独尝试。" + } + ] + }, + "gate_18_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第17门的顺序前置未达成，故第18门从未完成，也未被单独尝试。" + } + ] + }, + "gate_19_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第18门的顺序前置未达成，故第19门从未完成，也未被单独尝试。" + } + ] + }, + "gate_20_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第19门的顺序前置未达成，故第20门从未完成，也未被单独尝试。" + } + ] + }, + "gate_21_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第20门的顺序前置未达成，故第21门从未完成，也未被单独尝试。" + } + ] + }, + "gate_22_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第21门的顺序前置未达成，故第22门从未完成，也未被单独尝试。" + } + ] + }, + "gate_23_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第22门的顺序前置未达成，故第23门从未完成，也未被单独尝试。" + } + ] + }, + "gate_24_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第23门的顺序前置未达成，故第24门从未完成，也未被单独尝试。" + } + ] + }, + "gate_25_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第24门的顺序前置未达成，故第25门从未完成，也未被单独尝试。" + } + ] + }, + "gate_26_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第25门的顺序前置未达成，故第26门从未完成，也未被单独尝试。" + } + ] + }, + "gate_27_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第26门的顺序前置未达成，故第27门从未完成，也未被单独尝试。" + } + ] + }, + "gate_28_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第27门的顺序前置未达成，故第28门从未完成，也未被单独尝试。" + } + ] + }, + "gate_29_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第28门的顺序前置未达成，故第29门从未完成，也未被单独尝试。" + } + ] + }, + "gate_30_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第29门的顺序前置未达成，故第30门从未完成，也未被单独尝试。" + } + ] + }, + "gate_31_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第30门的顺序前置未达成，故第31门从未完成，也未被单独尝试。" + } + ] + }, + "gate_32_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线附近，没有到达第1门；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。第31门的顺序前置未达成，故第32门从未完成，也未被单独尝试。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.12, + "log_step": 150, + "text_zh": "推断：视频 0.0–6.12 s，机器人始终在起点拱架及红线旁，没有滑向远处赛道或终点；log step 150 的最终回合服务裁判报告 stages_reached=0/34、outcome=fell。32道门均未通过，因而本节点要求的过门前置及双脚越过终点均未达成，也未开始终点动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "gates", + "value": null, + "unit": "count", + "threshold": 32, + "direction": "higher_better" + }, + { + "name": "speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better" + }, + { + "name": "time_s", + "value": null, + "unit": "s", + "threshold": null, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "gate_1_passed", + "t": 4.0, + "log_step": 149, + "where": "操作中", + "evidence_zh": "观察：视频 2.0–3.8 s，机器人在起点雪板上屈膝并调整俯仰以尝试出发；视频约 4.0 s 起躯干明显向后倒，视频 4.8–6.12 s 仍大幅后仰，未恢复或通过首门。log step 149 是最后一次重置后的起滑控制脚本，log step 150 的服务裁判以 fell、0/34 阶段终结该回合。首门节点包含起滑验收，因此断点为首门操作中的起滑失败。" + }, + "unmet": { + "gate_1_passed": false, + "gate_2_passed": false, + "gate_3_passed": false, + "gate_4_passed": false, + "gate_5_passed": false, + "gate_6_passed": false, + "gate_7_passed": false, + "gate_8_passed": false, + "gate_9_passed": false, + "gate_10_passed": false, + "gate_11_passed": false, + "gate_12_passed": false, + "gate_13_passed": false, + "gate_14_passed": false, + "gate_15_passed": false, + "gate_16_passed": false, + "gate_17_passed": false, + "gate_18_passed": false, + "gate_19_passed": false, + "gate_20_passed": false, + "gate_21_passed": false, + "gate_22_passed": false, + "gate_23_passed": false, + "gate_24_passed": false, + "gate_25_passed": false, + "gate_26_passed": false, + "gate_27_passed": false, + "gate_28_passed": false, + "gate_29_passed": false, + "gate_30_passed": false, + "gate_31_passed": false, + "gate_32_passed": false, + "finish_crossed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 4.0, + "log_step": 150, + "evidence_zh": "观察：视频 3.8 s 时机器人仍在雪板上保持屈膝姿态，视频 4.0–4.8 s 躯干逐渐向后倾倒至接近水平，视频 5.2–6.12 s 未恢复直立；log step 150 的机器人服务最终响应为 outcome=fell、done=true，且未接受任何原生阶段。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 4.0, + "log_step": 149, + "source_zh": "日志", + "evidence_zh": "推断：log step 149 的最终脚本在俯仰反馈的屈膝动作后，改用 stiff_pose(d,d.q0,.9) 回到固定站姿，再调用 stand；log step 92 可见 stiff_pose 使用固定关节目标及较高腿部位置增益。与视频 3.8–4.8 s 回姿过程中持续后仰、至视频 6.12 s 仍未恢复相结合，说明该起滑及回姿控制未能维持全身俯仰稳定。log step 150 的末段姿态打印也显示俯仰约为-0.94 rad；目前只能归因于本体姿态控制，不能据此确定是哪项增益、轨迹或反馈环节造成失稳。" + } + ], + "gap_zh": "输入无状态日志；视频为固定远景，不能确定首先触雪的具体身体部位或支承力变化。log step 150 的中间控制输出被截断，缺少回站姿过程的完整姿态与力矩序列，因此根因不细分到参数、轨迹或反馈控制；gates、speed_m_s、time_s 未作为原生指标值单独报告，native_metrics 均留 null。" + }, + "summary_zh": "受评的是最后一次重置后的第6回合：机器人在起点附近尝试屈膝起滑，没有完成任何旗门或终点，DAG最终进度为0/33；log step 150 的服务裁判报告摔倒、0/34原生阶段。视频约 4.0 s 起机器人在回姿过程中持续后仰，断点为包含起滑验收的首门步骤，现象为全身平衡失败，根因归于本体姿态控制。固定远景及被截断的中间控制输出不足以确定具体控制子因；此前测试回合的起点进度未计入本次。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频仅6.16 s，为最后一次重置后的第6回合：机器人始终在起点拱架附近，约4 s起后仰倒下，未通过任何门，所有节点false、断点gate_1、现象平衡、根因控制均与视频及log step 150/151的服务终结响应（fell、0/34、sim 6.15 s）相符。未发现需修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:44:16Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": 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false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "推断：视频0–7.56 s机器人未离开起点拱架附近进入第1门，末段倾倒；按DAG逐门顺序验收，第11门的前置第10门未完成，因此本门从未成立，机器人也未开始本门的独立尝试。" + } + ] + }, + "gate_12_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "推断：视频0–7.56 s机器人未离开起点拱架附近进入第1门，末段倾倒；按DAG逐门顺序验收，第12门的前置第11门未完成，因此本门从未成立，机器人也未开始本门的独立尝试。" + } + ] + }, + "gate_13_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "推断：视频0–7.56 s机器人未离开起点拱架附近进入第1门，末段倾倒；按DAG逐门顺序验收，第13门的前置第12门未完成，因此本门从未成立，机器人也未开始本门的独立尝试。" + } + ] + }, + "gate_14_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "推断：视频0–7.56 s机器人未离开起点拱架附近进入第1门，末段倾倒；按DAG逐门顺序验收，第14门的前置第13门未完成，因此本门从未成立，机器人也未开始本门的独立尝试。" + } + ] + }, + "gate_15_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "推断：视频0–7.56 s机器人未离开起点拱架附近进入第1门，末段倾倒；按DAG逐门顺序验收，第15门的前置第14门未完成，因此本门从未成立，机器人也未开始本门的独立尝试。" + } + ] + }, + "gate_16_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "推断：视频0–7.56 s机器人未离开起点拱架附近进入第1门，末段倾倒；按DAG逐门顺序验收，第16门的前置第15门未完成，因此本门从未成立，机器人也未开始本门的独立尝试。" + } + ] + }, + "gate_17_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "推断：视频0–7.56 s机器人未离开起点拱架附近进入第1门，末段倾倒；按DAG逐门顺序验收，第17门的前置第16门未完成，因此本门从未成立，机器人也未开始本门的独立尝试。" + } + ] + }, + "gate_18_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "推断：视频0–7.56 s机器人未离开起点拱架附近进入第1门，末段倾倒；按DAG逐门顺序验收，第18门的前置第17门未完成，因此本门从未成立，机器人也未开始本门的独立尝试。" + } + ] + }, + "gate_19_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "推断：视频0–7.56 s机器人未离开起点拱架附近进入第1门，末段倾倒；按DAG逐门顺序验收，第19门的前置第18门未完成，因此本门从未成立，机器人也未开始本门的独立尝试。" + } + ] + }, + "gate_20_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "推断：视频0–7.56 s机器人未离开起点拱架附近进入第1门，末段倾倒；按DAG逐门顺序验收，第20门的前置第19门未完成，因此本门从未成立，机器人也未开始本门的独立尝试。" + } + ] + }, + "gate_21_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "推断：视频0–7.56 s机器人未离开起点拱架附近进入第1门，末段倾倒；按DAG逐门顺序验收，第21门的前置第20门未完成，因此本门从未成立，机器人也未开始本门的独立尝试。" + } + ] + }, + "gate_22_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "推断：视频0–7.56 s机器人未离开起点拱架附近进入第1门，末段倾倒；按DAG逐门顺序验收，第22门的前置第21门未完成，因此本门从未成立，机器人也未开始本门的独立尝试。" + } + ] + }, + "gate_23_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "推断：视频0–7.56 s机器人未离开起点拱架附近进入第1门，末段倾倒；按DAG逐门顺序验收，第23门的前置第22门未完成，因此本门从未成立，机器人也未开始本门的独立尝试。" + } + ] + }, + "gate_24_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "推断：视频0–7.56 s机器人未离开起点拱架附近进入第1门，末段倾倒；按DAG逐门顺序验收，第24门的前置第23门未完成，因此本门从未成立，机器人也未开始本门的独立尝试。" + } + ] + }, + "gate_25_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "推断：视频0–7.56 s机器人未离开起点拱架附近进入第1门，末段倾倒；按DAG逐门顺序验收，第25门的前置第24门未完成，因此本门从未成立，机器人也未开始本门的独立尝试。" + } + ] + }, + "gate_26_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "推断：视频0–7.56 s机器人未离开起点拱架附近进入第1门，末段倾倒；按DAG逐门顺序验收，第26门的前置第25门未完成，因此本门从未成立，机器人也未开始本门的独立尝试。" + } + ] + }, + "gate_27_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "推断：视频0–7.56 s机器人未离开起点拱架附近进入第1门，末段倾倒；按DAG逐门顺序验收，第27门的前置第26门未完成，因此本门从未成立，机器人也未开始本门的独立尝试。" + } + ] + }, + "gate_28_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "推断：视频0–7.56 s机器人未离开起点拱架附近进入第1门，末段倾倒；按DAG逐门顺序验收，第28门的前置第27门未完成，因此本门从未成立，机器人也未开始本门的独立尝试。" + } + ] + }, + "gate_29_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "推断：视频0–7.56 s机器人未离开起点拱架附近进入第1门，末段倾倒；按DAG逐门顺序验收，第29门的前置第28门未完成，因此本门从未成立，机器人也未开始本门的独立尝试。" + } + ] + }, + "gate_30_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "推断：视频0–7.56 s机器人未离开起点拱架附近进入第1门，末段倾倒；按DAG逐门顺序验收，第30门的前置第29门未完成，因此本门从未成立，机器人也未开始本门的独立尝试。" + } + ] + }, + "gate_31_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "推断：视频0–7.56 s机器人未离开起点拱架附近进入第1门，末段倾倒；按DAG逐门顺序验收，第31门的前置第30门未完成，因此本门从未成立，机器人也未开始本门的独立尝试。" + } + ] + }, + "gate_32_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "推断：视频0–7.56 s机器人未离开起点拱架附近进入第1门，末段倾倒；按DAG逐门顺序验收，第32门的前置第31门未完成，因此本门从未成立，机器人也未开始本门的独立尝试。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.56, + "log_step": null, + "text_zh": "推断：视频0–7.56 s机器人一直处于起点黑色拱架附近，末段倒下，未完成第1门，更未完成其余31门；按顺序验收的终点节点从未成立。画面中的黑色拱架是起点，不是终点。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "gates", + "unit": "count", + "threshold": 32, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_m_s", + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "time_s", + "unit": "s", + "threshold": null, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "gate_1_passed", + "t": 7.2, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频0–7.0 s机器人在起点红线和黑色拱架附近以雪板支承、移动，正在执行首门之前的起滑；视频约7.2 s开始明显倾倒，视频7.4–7.56 s躯干倒向雪面，未到达第1门，之后没有恢复。起滑验收并入第1门，故断点为通过第1门。" + }, + "unmet": { + "gate_1_passed": false, + "gate_2_passed": false, + "gate_3_passed": false, + "gate_4_passed": false, + "gate_5_passed": false, + "gate_6_passed": false, + "gate_7_passed": false, + "gate_8_passed": false, + "gate_9_passed": false, + "gate_10_passed": false, + "gate_11_passed": false, + "gate_12_passed": false, + "gate_13_passed": false, + "gate_14_passed": false, + "gate_15_passed": false, + "gate_16_passed": false, + "gate_17_passed": false, + "gate_18_passed": false, + "gate_19_passed": false, + "gate_20_passed": false, + "gate_21_passed": false, + "gate_22_passed": false, + "gate_23_passed": false, + "gate_24_passed": false, + "gate_25_passed": false, + "gate_26_passed": false, + "gate_27_passed": false, + "gate_28_passed": false, + "gate_29_passed": false, + "gate_30_passed": false, + "gate_31_passed": false, + "gate_32_passed": false, + "finish_crossed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 7.2, + "log_step": null, + "evidence_zh": "观察：视频7.0 s机器人尚由雪板支承；视频7.2 s上身明显倒向一侧，视频7.4–7.56 s躯干迅速降低并接近横卧雪面，未能恢复直立，视频随即结束。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 7.2, + "log_step": 122, + "evidence_zh": "推断：log step 122的最终脚本用双髋yaw、腰roll和踝roll联合实现入门转向，并用骨盆IMU构造侧倾反馈；log step 124运行该版脚本。视频5.2–7.56 s显示机器人在起点附近调整姿态后倾倒，说明该次起滑及转向的关节控制未维持身体支撑。agent在log step 128自述“steep lead-in yaw tipped Ep6”，与倒下方向相容，但没有逐步控制输出验证具体参数，故仅归控制大类。", + "source_zh": "日志" + } + ], + "gap_zh": "没有状态日志；第6回合后台运行的逐步控制输出、最终outcome及stages_reached没有出现在可用日志中，评分字段也未报告gates、speed_m_s、time_s，三项原生指标均保留null。固定远景足以确认机器人始终在起点附近并倾倒，但不足以分辨首先触雪的具体身体部位；最终脚本中段在日志内被截断，无法核实倾倒由转向幅度、接触配置或反馈增益中的哪一项引起，不把agent对第6回合的自述当作已验证参数归因。" + }, + "summary_zh": "受评的是最后第6回合：机器人在起点红线及黑色拱架附近起滑、调整雪板姿态，尚未到达第1门，33个节点最终均未完成；agent自述第5回合过门属于早先试跑。视频约7.2 s机器人失衡，末帧视频7.56 s躯干已倒向雪面，断在通过第1门，根因保守归为控制。缺少状态日志及第6回合逐步控制、裁判分项终态，不能验证具体转向参数或反馈设计的责任。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "受评视频仅7.56 s，机器人始终在起点拱架附近，约视频7.2 s起失衡倒向雪面，未到第1门；33节点全false、断点gate_1、平衡现象、保守归控制均与帧相符，未见需改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:36:26Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-standard--dmfy7r6/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-standard--dmfy7r6/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "24dde05240f7a37c613ba6ea352dfa908db4490c4c56fb3c3c605a621c2f6ed4", + "video_sha256": "9cf9bf8c87083113174a60cf2e1b20d71e2a779415bb8e30f8c4be9260fdf309", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-standard--gamsbcf.json b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-standard--gamsbcf.json new file mode 100644 index 0000000000000000000000000000000000000000..d73b7fd213470747bde2901418736409db9867a0 --- /dev/null +++ b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-standard--gamsbcf.json @@ -0,0 +1,633 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-alpine-slalom-i00-standard--gamsbcf", + "taskKey": "embodied-olympics-fun/alpine_slalom", + "dag_sha256": "0382103c21732bd9a43317e1385d02d1f88b24ff2896d1d6062c6a895ff37a48", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 1110, + "sim_steps": 4514, + "calls": 85, + "rows": 1385, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 5969.6, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-alpine-slalom-i00-standard--gamsbcf/replay.mp4", + "duration_s": 11.12, + "fps": 25.0, + "frames": 278, + "sha256": "4306eba7b07d633ac4f4451bb13efe9ff01259c760c6c2e8e97098b9d5fd744c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 33, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "gate_1_passed": { + "method": "visual", + "intervals": [ + [ + 10.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.5, + "log_step": null, + "text_zh": "观察：视频全程抽帧及视频 1.5–8.5 s 的局部帧显示，机器人俯身用双手划撑雪面，双脚固定的雪板向前滑行并越过起点红线，随后逐渐站起。" + }, + { + "t": 10.6, + "log_step": 250, + "text_zh": "推断：视频 10.2–10.9 s 的连续帧显示机器人从第一对红杆间滑向下坡侧；log step 250 的第六回合服务结果为 stages_reached=2、outcome=fell，两个原生阶段对应起滑和第1门，因此第1门已被裁判接受。首次达成约为视频 10.6 s，远景不能逐点辨认四个受检点，时刻约有0.2秒误差。log step 3 给出 control_dt=0.01，log step 214 的本回合 control_steps=1060 对应视频 10.60 s；log step 250 的1110步对应视频 11.10 s，已用末段倒地画面核对，未采用 agent 工作时间换算。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "双脚经固定雪板支承雪面，腿和躯干随雪板滑过起点并到达第1道门。" + }, + { + "who": "双臂协作", + "how": "压/擦", + "note_zh": "起滑及接近坡面时，两手掌共同压在雪面上并反复向后划撑推进，随后收手站起；没有握住物体。" + } + ] + }, + "gate_2_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.8, + "log_step": 215, + "text_zh": "观察：视频 10.6–11.08 s 显示机器人刚过第一道门后继续向下坡滑行并转向，随即侧倾倒下，未抵达下一对蓝杆的门线；log step 215 的控制脚本明确执行右转，log step 250 的第六回合服务结果仍只有 stages_reached=2，且 outcome=fell。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "双脚经雪板支承雪面，在向第2门转向滑行时支撑失稳，腿和躯干随后倒向雪面。" + } + ] + }, + "gate_3_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第3道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_4_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第4道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_5_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第5道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_6_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第6道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_7_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第7道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_8_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第8道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_9_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第9道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_10_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第10道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_11_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第11道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_12_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第12道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_13_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第13道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_14_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第14道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_15_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第15道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_16_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第16道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_17_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第17道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_18_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第18道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_19_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第19道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_20_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第20道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_21_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第21道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_22_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第22道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_23_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第23道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_24_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第24道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_25_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第25道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_26_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第26道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_27_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第27道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_28_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第28道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_29_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第29道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_30_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第30道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_31_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第31道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "gate_32_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 0–11.08 s 的全程抽帧及末秒密集帧显示机器人只滑至首门下坡侧便倒地，没有继续滑向后段旗门；log step 250 的第六回合服务以 fell 结束且 stages_reached=2（起滑和第1门）。结合旗门必须依次通过，第32道门未达成，且本回合未开始对该门的独立尝试。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.08, + "log_step": 250, + "text_zh": "推断：视频 11.08 s 机器人倒在上段首门附近，未滑完整条赛道；log step 250 的第六回合实时服务以 fell 终结且 stages_reached=2，仅含起滑和第1门，因而第32门前置及越过终点均未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "gates", + "unit": "count", + "threshold": 32, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_m_s", + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "time_s", + "unit": "s", + "threshold": null, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "gate_2_passed", + "t": 10.8, + "log_step": 215, + "where": "操作中", + "evidence_zh": "观察：视频 10.6 s 左右机器人滑过首门后仍在向下一门转向行进；视频 10.8–11.08 s 其身体明显侧倒，最终横躺在雪面上，没有恢复。log step 215 执行向第2门的右转，log step 237、250 两次恢复动作后，第六回合服务在1110控制步报告 done=True、reason=failed、outcome=fell、stages_reached=2；失败发生在第2门行进过程中。" + }, + "unmet": { + "gate_1_passed": true, + "gate_2_passed": false, + "gate_3_passed": false, + "gate_4_passed": false, + "gate_5_passed": false, + "gate_6_passed": false, + "gate_7_passed": false, + "gate_8_passed": false, + "gate_9_passed": false, + "gate_10_passed": false, + "gate_11_passed": false, + "gate_12_passed": false, + "gate_13_passed": false, + "gate_14_passed": false, + "gate_15_passed": false, + "gate_16_passed": false, + "gate_17_passed": false, + "gate_18_passed": false, + "gate_19_passed": false, + "gate_20_passed": false, + "gate_21_passed": false, + "gate_22_passed": false, + "gate_23_passed": false, + "gate_24_passed": false, + "gate_25_passed": false, + "gate_26_passed": false, + "gate_27_passed": false, + "gate_28_passed": false, + "gate_29_passed": false, + "gate_30_passed": false, + "gate_31_passed": false, + "gate_32_passed": false, + "finish_crossed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 10.8, + "log_step": 250, + "evidence_zh": "观察：视频 10.72–11.08 s 的密集帧中，机器人从站立滑行转为快速侧倾，最后全身倒向雪面；log step 250 的该回合服务结果为 outcome=fell，控制步1110后立即终结。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 10.8, + "log_step": 215, + "source_zh": "日志", + "evidence_zh": "推断：log step 214 的传感器换算在转弯前输出横滚约1.6度、偏航约42.3度；log step 215 的脚本随后用一段固定关节目标执行右转，段末换算横滚增至约27.7度、横滚角速度约4.17 rad/s。log step 237、250 再执行腿部外展与手臂恢复姿态，换算横滚仍继续增至约73.5度并最终倒地，与视频 10.8–11.08 s 一致，说明转向和随后的姿态恢复控制未能维持滑行支撑。现有证据不能分清雪板接触设计与姿态跟踪的具体贡献，故仅标控制大类。" + } + ], + "gap_zh": "没有逐帧状态或接触力日志，固定远景中的双脚、板尖与杆线过小，首门达成依本回合裁判阶段数和画面联合判断，约定位于视频 10.6 s。agent 在 log step 254 自述右雪板卡刃，但画面及现有日志不能独立确定具体刃面接触，未将其作为已证实机制；run.json 的 reward 未报告 gates、speed_m_s 或 time_s 原生指标，三项值保留 null。" + }, + "summary_zh": "评分视频对应最后的第六回合，机器人用双手划撑起滑后站起，约在视频 10.6 s 通过第1道门，最终完成1/33个节点。朝第2道门转向时，机器人在视频 10.8 s 左右开始明显侧倒，恢复动作未能稳定身体，服务在视频约 11.1 s 对应的控制步判定摔倒终结。没有逐帧状态日志，首门时刻由画面及该回合裁判阶段数联合定位，具体雪板刃接触机制不能确认。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频、日志一致：第六回合裁判 stages_reached=2（起点+第1门），视频 10.6 s 机器人已在首门下坡侧，10.8–11.08 s 侧倒；断点 gate_2、现象平衡、根因控制（子类不明停在控制）均有证据支持，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:40:55Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-standard--gamsbcf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-standard--gamsbcf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a13ed55f82d966ddcf889d7b7499fec4508dcac244c97b93be1499f877c3df4c", + "video_sha256": "4306eba7b07d633ac4f4451bb13efe9ff01259c760c6c2e8e97098b9d5fd744c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-standard--lmdrcez.json b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-standard--lmdrcez.json new file mode 100644 index 0000000000000000000000000000000000000000..fd9146d5184946741a90b2e0eef01ea9ef65b7fe --- /dev/null +++ b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-standard--lmdrcez.json @@ -0,0 +1,615 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-alpine-slalom-i00-standard--lmdrcez", + "taskKey": "embodied-olympics-fun/alpine_slalom", + "dag_sha256": "0382103c21732bd9a43317e1385d02d1f88b24ff2896d1d6062c6a895ff37a48", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 775, + "sim_steps": 5807, + "calls": 556, + "rows": 5807, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 4326.0, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.33, + "peak_processes": 11, + "peak_disk_gb": 0.239, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-alpine-slalom-i00-standard--lmdrcez/replay.mp4", + "duration_s": 7.76, + "fps": 25.0, + "frames": 194, + "sha256": "6db9391133871e1f0033b0f73da4ea1bcc919d25287a281f9f93c3e19144cfda" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 33, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "gate_1_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 123, + "text_zh": "观察：log step 123 启动最后的第六回合；视频 0.0 s 机器人双脚固定雪板站在黑色起点拱架旁，随后自行屈膝迈动并向下坡移动。" + }, + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 5.0–7.72 s 机器人从起点红线附近向坡内移动，尚远离下坡第一对旗杆，就倾倒在起点拱架下坡侧；全片未穿过第一道红色旗门。log step 124 的第六回合服务裁判输出 RESULT failed fell 1 / 34（原生阶段含起点），与画面一致，不能把起点阶段当作首门完成。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–7.4 s 机器人双脚经固定雪板支承雪面，屈膝、迈动并向坡内滑移；视频 7.52–7.72 s 身体倾倒，未到首门。" + } + ] + }, + "gate_2_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第2门的顺序前置未满足，本回合未尝试也未完成第2门。" + } + ] + }, + "gate_3_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第3门的顺序前置未满足，本回合未尝试也未完成第3门。" + } + ] + }, + "gate_4_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第4门的顺序前置未满足，本回合未尝试也未完成第4门。" + } + ] + }, + "gate_5_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第5门的顺序前置未满足，本回合未尝试也未完成第5门。" + } + ] + }, + "gate_6_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第6门的顺序前置未满足，本回合未尝试也未完成第6门。" + } + ] + }, + "gate_7_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第7门的顺序前置未满足，本回合未尝试也未完成第7门。" + } + ] + }, + "gate_8_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第8门的顺序前置未满足，本回合未尝试也未完成第8门。" + } + ] + }, + "gate_9_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第9门的顺序前置未满足，本回合未尝试也未完成第9门。" + } + ] + }, + "gate_10_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第10门的顺序前置未满足，本回合未尝试也未完成第10门。" + } + ] + }, + "gate_11_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第11门的顺序前置未满足，本回合未尝试也未完成第11门。" + } + ] + }, + "gate_12_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第12门的顺序前置未满足，本回合未尝试也未完成第12门。" + } + ] + }, + "gate_13_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第13门的顺序前置未满足，本回合未尝试也未完成第13门。" + } + ] + }, + "gate_14_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第14门的顺序前置未满足，本回合未尝试也未完成第14门。" + } + ] + }, + "gate_15_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第15门的顺序前置未满足，本回合未尝试也未完成第15门。" + } + ] + }, + "gate_16_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第16门的顺序前置未满足，本回合未尝试也未完成第16门。" + } + ] + }, + "gate_17_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第17门的顺序前置未满足，本回合未尝试也未完成第17门。" + } + ] + }, + "gate_18_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第18门的顺序前置未满足，本回合未尝试也未完成第18门。" + } + ] + }, + "gate_19_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第19门的顺序前置未满足，本回合未尝试也未完成第19门。" + } + ] + }, + "gate_20_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第20门的顺序前置未满足，本回合未尝试也未完成第20门。" + } + ] + }, + "gate_21_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第21门的顺序前置未满足，本回合未尝试也未完成第21门。" + } + ] + }, + "gate_22_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第22门的顺序前置未满足，本回合未尝试也未完成第22门。" + } + ] + }, + "gate_23_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第23门的顺序前置未满足，本回合未尝试也未完成第23门。" + } + ] + }, + "gate_24_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第24门的顺序前置未满足，本回合未尝试也未完成第24门。" + } + ] + }, + "gate_25_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第25门的顺序前置未满足，本回合未尝试也未完成第25门。" + } + ] + }, + "gate_26_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第26门的顺序前置未满足，本回合未尝试也未完成第26门。" + } + ] + }, + "gate_27_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第27门的顺序前置未满足，本回合未尝试也未完成第27门。" + } + ] + }, + "gate_28_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第28门的顺序前置未满足，本回合未尝试也未完成第28门。" + } + ] + }, + "gate_29_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第29门的顺序前置未满足，本回合未尝试也未完成第29门。" + } + ] + }, + "gate_30_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第30门的顺序前置未满足，本回合未尝试也未完成第30门。" + } + ] + }, + "gate_31_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第31门的顺序前置未满足，本回合未尝试也未完成第31门。" + } + ] + }, + "gate_32_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人只在起点红线附近活动并于末段倒下，未到第一对旗杆；log step 124 的第六回合服务结果为 failed fell、原生阶段 1/34。推断：第一门未通过，且第32门的顺序前置未满足，本回合未尝试也未完成第32门。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.72, + "log_step": 124, + "text_zh": "观察：视频 0.0–7.72 s 机器人始终在起点附近，最后倾倒，未向终点区域滑行；log step 124 服务裁判返回第六回合 failed fell、原生阶段 1/34。推断：首门及后续门均未完成，越过终点所需的32门前置未满足，终点节点从未成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "gates", + "unit": "count", + "threshold": 32, + "direction": "higher_better", + "value": null + }, + { + "name": "speed_m_s", + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "time_s", + "unit": "s", + "threshold": null, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "gate_1_passed", + "t": 7.4, + "log_step": 124, + "where": "操作中", + "evidence_zh": "观察：视频 5.0–7.4 s 机器人正自行离开起点并滑向首门方向，视频 7.44–7.72 s 躯干迅速降低并倾倒在雪面，尚未到第一对旗杆；log step 124 第六回合服务裁判返回 fell、阶段 1/34 并终结。推断：起滑属于首门验收的一部分，首次未修复失败发生于首门行进过程中。" + }, + "unmet": { + "gate_1_passed": false, + "gate_2_passed": false, + "gate_3_passed": false, + "gate_4_passed": false, + "gate_5_passed": false, + "gate_6_passed": false, + "gate_7_passed": false, + "gate_8_passed": false, + "gate_9_passed": false, + "gate_10_passed": false, + "gate_11_passed": false, + "gate_12_passed": false, + "gate_13_passed": false, + "gate_14_passed": false, + "gate_15_passed": false, + "gate_16_passed": false, + "gate_17_passed": false, + "gate_18_passed": false, + "gate_19_passed": false, + "gate_20_passed": false, + "gate_21_passed": false, + "gate_22_passed": false, + "gate_23_passed": false, + "gate_24_passed": false, + "gate_25_passed": false, + "gate_26_passed": false, + "gate_27_passed": false, + "gate_28_passed": false, + "gate_29_passed": false, + "gate_30_passed": false, + "gate_31_passed": false, + "gate_32_passed": false, + "finish_crossed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 7.4, + "log_step": 124, + "evidence_zh": "观察：视频 7.12–7.44 s 机器人屈身滑移，视频 7.52–7.72 s 上身大幅倾斜、身体塌向雪面，未恢复站立；log step 124 服务裁判明确给出第六回合 outcome=fell，结束时仅起点阶段成立。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 118, + "evidence_zh": "观察：log step 118 的最终控制修改保留 walk 起步，再按估计行程、俯仰或侧倾阈值切换到 joints 滑行控制，每批20个0.01 s控制步；log step 125 对第六回合的实际记录显示先34批 walk、后5批 glide，滑行控制开始时脚本记录的坡面俯仰为-0.409 rad，随后明显变大；视频 6.8–7.72 s 可见切换附近姿态变化后机器人倾倒。推断：起步到滑行的全身姿态控制未能稳定机器人，切换后的控制也未恢复平衡；证据足以归于控制，不能唯一确定错误增益、姿态估计还是切换阈值。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有逐帧仿真状态或接触力日志，固定远景只能确认起点附近运动及倾倒，不能分辨最先触雪的具体身体部位，亦不能独立验证 agent 关于后仰触发过晚及雪板打滑的详细解释；根因保留在控制大类。run.json 的 reward 未报告 gates、speed_m_s、time_s 三项原生指标值，均记为 null。前五回合仅为会话测试，未计入本次进度。" + }, + "summary_zh": "受评的是最后的第六回合：机器人自行起滑，服务裁判原生阶段为1/34（仅起点），但尚未到首门即在视频约7.5 s倾倒，DAG的32门与终点共33个节点均未完成。断点为通过第1门的操作中，现象为全身平衡失败；实际控制记录与画面支持起步至滑行的姿态控制未能保持稳定。无逐帧状态与接触力数据，无法进一步确定控制子类或最先触雪的部位。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "第六回合的标签与视频、log 一致：机器人越过起点红线后在第一对旗杆前倾倒，33 个节点均未达成，断点 gate_1_passed、现象平衡、根因控制（子类未定）均有证据支持；未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:47:50Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-standard--lmdrcez/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-standard--lmdrcez/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f99ddc0655f3e8d3e434b7efd10b98f48dc6f0250c3a87c712480d9e8c5b8922", + "video_sha256": "6db9391133871e1f0033b0f73da4ea1bcc919d25287a281f9f93c3e19144cfda", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-standard--sltxs7d.json b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-standard--sltxs7d.json new file mode 100644 index 0000000000000000000000000000000000000000..8554d65f35dc4c98bf978e4866c08afaeeb149e4 --- /dev/null +++ b/phase2/embodied-olympics-fun/alpine_slalom/trajectories/embodied-olympics-fun-alpine-slalom-i00-standard--sltxs7d.json @@ -0,0 +1,636 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-alpine-slalom-i00-standard--sltxs7d", + "taskKey": "embodied-olympics-fun/alpine_slalom", + "dag_sha256": "0382103c21732bd9a43317e1385d02d1f88b24ff2896d1d6062c6a895ff37a48", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 351, + "sim_steps": 6543, + "calls": 113, + "rows": 3616, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 2278.6, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.225, + "peak_processes": 11, + "peak_disk_gb": 0.25, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-alpine-slalom-i00-standard--sltxs7d/replay.mp4", + "duration_s": 3.52, + "fps": 25.0, + "frames": 88, + "sha256": "14b4b03a787251675a6eba257656fbdf55738cb98cadfff653bda32a4af15c77" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 33, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "gate_1_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 108, + "text_zh": "观察：log step 108 启动最后一次重置后的受评回合；视频 0.00 s 机器人双脚固定雪板，站在黑色起点架旁的红线附近。" + }, + { + "t": 3.48, + "log_step": 109, + "text_zh": "观察：视频 0.00–3.48 s 机器人仅在起点红线附近屈膝、倾斜，最后侧翻，始终未到远处第1道红色旗门；log step 109 的最终回合输出为 done=True、reason=failed、stages=0。首门未通过。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–3.48 s 双脚经固定雪板支承在起点雪面上，机器人屈膝并执行姿态扰动，随后躯干侧翻贴近雪面；没有滑至首门。" + } + ] + }, + "gate_2_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.48, + "log_step": 109, + "text_zh": "观察：视频 0.00–3.48 s 机器人一直位于起点架及红线附近，末尾侧翻，没有进入旗门区；log step 109 最终回合输出 stages=0、done=True。推断：首门从未通过，按有序过门前置条件，第2道旗门也未达成。" + } + ] + }, + "gate_3_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.48, + "log_step": 109, + "text_zh": "观察：视频 0.00–3.48 s 机器人一直位于起点架及红线附近，末尾侧翻，没有进入旗门区；log step 109 最终回合输出 stages=0、done=True。推断：首门从未通过，按有序过门前置条件，第3道旗门也未达成。" + } + ] + }, + "gate_4_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.48, + "log_step": 109, + "text_zh": "观察：视频 0.00–3.48 s 机器人一直位于起点架及红线附近，末尾侧翻，没有进入旗门区；log step 109 最终回合输出 stages=0、done=True。推断：首门从未通过，按有序过门前置条件，第4道旗门也未达成。" + } + ] + }, + "gate_5_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.48, + "log_step": 109, + "text_zh": "观察：视频 0.00–3.48 s 机器人一直位于起点架及红线附近，末尾侧翻，没有进入旗门区；log step 109 最终回合输出 stages=0、done=True。推断：首门从未通过，按有序过门前置条件，第5道旗门也未达成。" + } + ] + }, + "gate_6_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.48, + "log_step": 109, + "text_zh": "观察：视频 0.00–3.48 s 机器人一直位于起点架及红线附近，末尾侧翻，没有进入旗门区；log step 109 最终回合输出 stages=0、done=True。推断：首门从未通过，按有序过门前置条件，第6道旗门也未达成。" + } + ] + }, + "gate_7_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.48, + "log_step": 109, + "text_zh": "观察：视频 0.00–3.48 s 机器人一直位于起点架及红线附近，末尾侧翻，没有进入旗门区；log step 109 最终回合输出 stages=0、done=True。推断：首门从未通过，按有序过门前置条件，第7道旗门也未达成。" + } + ] + }, + "gate_8_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.48, + "log_step": 109, + "text_zh": "观察：视频 0.00–3.48 s 机器人一直位于起点架及红线附近，末尾侧翻，没有进入旗门区；log step 109 最终回合输出 stages=0、done=True。推断：首门从未通过，按有序过门前置条件，第8道旗门也未达成。" + } + ] + }, + "gate_9_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.48, + "log_step": 109, + "text_zh": "观察：视频 0.00–3.48 s 机器人一直位于起点架及红线附近，末尾侧翻，没有进入旗门区；log step 109 最终回合输出 stages=0、done=True。推断：首门从未通过，按有序过门前置条件，第9道旗门也未达成。" + } + ] + }, + "gate_10_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.48, + "log_step": 109, + "text_zh": "观察：视频 0.00–3.48 s 机器人一直位于起点架及红线附近，末尾侧翻，没有进入旗门区；log step 109 最终回合输出 stages=0、done=True。推断：首门从未通过，按有序过门前置条件，第10道旗门也未达成。" + } + ] + }, + "gate_11_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.48, + "log_step": 109, + "text_zh": "观察：视频 0.00–3.48 s 机器人一直位于起点架及红线附近，末尾侧翻，没有进入旗门区；log step 109 最终回合输出 stages=0、done=True。推断：首门从未通过，按有序过门前置条件，第11道旗门也未达成。" + } + ] + }, + "gate_12_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.48, + "log_step": 109, + "text_zh": "观察：视频 0.00–3.48 s 机器人一直位于起点架及红线附近，末尾侧翻，没有进入旗门区；log step 109 最终回合输出 stages=0、done=True。推断：首门从未通过，按有序过门前置条件，第12道旗门也未达成。" + } + ] + }, + "gate_13_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.48, + "log_step": 109, + "text_zh": "观察：视频 0.00–3.48 s 机器人一直位于起点架及红线附近，末尾侧翻，没有进入旗门区；log step 109 最终回合输出 stages=0、done=True。推断：首门从未通过，按有序过门前置条件，第13道旗门也未达成。" + } + ] + }, + "gate_14_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.48, + "log_step": 109, + "text_zh": "观察：视频 0.00–3.48 s 机器人一直位于起点架及红线附近，末尾侧翻，没有进入旗门区；log step 109 最终回合输出 stages=0、done=True。推断：首门从未通过，按有序过门前置条件，第14道旗门也未达成。" + } + ] + }, + "gate_15_passed": { + "method": "visual", + 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最终回合输出 stages=0、done=True。推断：首门从未通过，按有序过门前置条件，第18道旗门也未达成。" + } + ] + }, + "gate_19_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.48, + "log_step": 109, + "text_zh": "观察：视频 0.00–3.48 s 机器人一直位于起点架及红线附近，末尾侧翻，没有进入旗门区；log step 109 最终回合输出 stages=0、done=True。推断：首门从未通过，按有序过门前置条件，第19道旗门也未达成。" + } + ] + }, + "gate_20_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.48, + "log_step": 109, + "text_zh": "观察：视频 0.00–3.48 s 机器人一直位于起点架及红线附近，末尾侧翻，没有进入旗门区；log step 109 最终回合输出 stages=0、done=True。推断：首门从未通过，按有序过门前置条件，第20道旗门也未达成。" + } + ] + }, + "gate_21_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.48, + "log_step": 109, + "text_zh": "观察：视频 0.00–3.48 s 机器人一直位于起点架及红线附近，末尾侧翻，没有进入旗门区；log step 109 最终回合输出 stages=0、done=True。推断：首门从未通过，按有序过门前置条件，第21道旗门也未达成。" + } + ] + }, + "gate_22_passed": { + "method": "visual", + "intervals": [], + "final": false, + 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{ + "t": 3.48, + "log_step": 109, + "text_zh": "观察：视频 0.00–3.48 s 机器人一直位于起点架及红线附近，末尾侧翻，没有进入旗门区；log step 109 最终回合输出 stages=0、done=True。推断：首门从未通过，按有序过门前置条件，第29道旗门也未达成。" + } + ] + }, + "gate_30_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.48, + "log_step": 109, + "text_zh": "观察：视频 0.00–3.48 s 机器人一直位于起点架及红线附近，末尾侧翻，没有进入旗门区；log step 109 最终回合输出 stages=0、done=True。推断：首门从未通过，按有序过门前置条件，第30道旗门也未达成。" + } + ] + }, + "gate_31_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.48, + "log_step": 109, + "text_zh": "观察：视频 0.00–3.48 s 机器人一直位于起点架及红线附近，末尾侧翻，没有进入旗门区；log step 109 最终回合输出 stages=0、done=True。推断：首门从未通过，按有序过门前置条件，第31道旗门也未达成。" + } + ] + }, + "gate_32_passed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.48, + "log_step": 109, + "text_zh": "观察：视频 0.00–3.48 s 机器人一直位于起点架及红线附近，末尾侧翻，没有进入旗门区；log step 109 最终回合输出 stages=0、done=True。推断：首门从未通过，按有序过门前置条件，第32道旗门也未达成。" + } + ] + }, + "finish_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.48, + "log_step": 109, + "text_zh": "观察：视频 0.00–3.48 s 机器人一直位于起点架及红线附近，末尾侧翻，没有进入旗门区；log step 109 最终回合输出 stages=0、done=True。推断：首门从未通过，按有序过门前置条件，终点也未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "gates", + "value": null, + "unit": "count", + "threshold": 32, + "direction": "higher_better" + }, + { + "name": "speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better" + }, + { + "name": "time_s", + "value": null, + "unit": "s", + "threshold": null, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "gate_1_passed", + "t": 3.2, + "log_step": 109, + "where": "探索", + "evidence_zh": "观察：视频约 3.00–3.48 s 机器人在起点红线附近持续侧倾并倒下，未到首门；log step 108–110 确认这是最后一次重置后的回合，服务返回 episode=6、done=True、reason=failed。log step 104 的脚本修改及 log step 109 的执行输出显示，机器人正在实际执行踝、髋关节脉冲以辨识姿态响应，尚未开始下坡过门。推断：这是受评回合内机器人自身的动力学试探，断在包含起滑验收的首门步骤，未被修复。" + }, + "unmet": { + "gate_1_passed": false, + "gate_2_passed": false, + "gate_3_passed": false, + "gate_4_passed": false, + "gate_5_passed": false, + "gate_6_passed": false, + "gate_7_passed": false, + "gate_8_passed": false, + "gate_9_passed": false, + "gate_10_passed": false, + "gate_11_passed": false, + "gate_12_passed": false, + "gate_13_passed": false, + "gate_14_passed": false, + "gate_15_passed": false, + "gate_16_passed": false, + "gate_17_passed": false, + "gate_18_passed": false, + "gate_19_passed": false, + "gate_20_passed": false, + "gate_21_passed": false, + "gate_22_passed": false, + "gate_23_passed": false, + "gate_24_passed": false, + "gate_25_passed": false, + "gate_26_passed": false, + "gate_27_passed": false, + "gate_28_passed": false, + "gate_29_passed": false, + "gate_30_passed": false, + "gate_31_passed": false, + "gate_32_passed": false, + "finish_crossed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 3.2, + "log_step": 109, + "evidence_zh": "观察：视频 2.52–3.48 s 密集帧显示机器人在起点附近侧倾逐渐加重，视频 3.32–3.48 s 躯干已接近横卧雪面；log step 109 的最终回合输出 roll=-1.336、done=True、reason=failed，log step 110 服务状态确认回合已结束。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "source_zh": "日志", + "evidence_zh": "观察：log step 104 的脚本先固定蹲姿，再依次发送 ankle_pitch、hip_roll、yaw_left、yaw_right 校准脉冲以确定随后控制环的符号；log step 108 启动最终受评回合，log step 109 输出四次校准响应，其中 hip_roll 的 dpitch=0.274、yaw_right 的 droll=-0.29，随后即输出 roll=-1.336、done=True、reason=failed、stages=0。视频 3.00–3.48 s 显示机器人在起点红线附近侧翻；agent 在 log step 126 自述校准时尚无平衡环，并认为应在闭环平衡下校准或跳过校准。推断：把开环扰动辨识安排在平衡反馈启动之前，使受评回合在滑行阶段前就因失衡结束，属于阶段顺序与策略选择不当；按 docs/03_trajectory.md Step 3.3 及 TAXONOMY_v2.md §3 的判别次序归推理/规划，没有独立证据另列已有反馈回路的跟踪失稳。" + } + ], + "gap_zh": "没有状态日志；固定远景虽能确认起点附近的侧翻与未过门，但不能分清首次触雪的具体机器人连杆、接触力及各校准脉冲的独立贡献。推理/规划归因是结合脚本顺序、实际执行输出和视频作出的推断，agent 自述仅为补充，未验证其提出的闭环校准或跳过校准方案能否成功；评分字段未报告 gates、speed_m_s、time_s 三项原生指标，故其 value 均保留 null。之前重置前的滑行与离线模拟测试不计入本次进度。" + }, + "summary_zh": "受评的是 log step 108 启动的最后一次重置回合：视频 0.00–3.48 s 机器人始终留在起点红线附近，32道门及终点均未达到，最终进度为0/33。机器人在本回合内试探关节姿态响应时侧翻，断点为首门，现象为平衡；脚本把开环校准安排在平衡环启动之前，结合执行输出推断根因为认知·推理/规划。没有状态日志，不能进一步确认首次触雪连杆及具体脉冲的贡献。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "WHERE 标签（0/33、断点 gate_1、探索、平衡）与视频和日志相符：视频 0–3.48 s 机器人始终在起点红线附近并侧倾倒下。问题在根因：控制·反馈控制 跳过了判别次序，agent 是有意在无平衡环时做开环校准脉冲，这是跨阶段策略选择，应先考虑 认知·推理/规划。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 8, + "summary_zh": "0/33、断点 gate_1（探索）、现象平衡、根因推理/规划均与视频和日志相符；视频 0–3.48 s 机器人始终在起点红线附近并侧倾，log step 109 输出 roll=-1.336、reason=failed、stages=0，引用的 log step 编号（104/108/109/110/126）均存在且内容对应。未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:48:08Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-standard--sltxs7d/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-standard--sltxs7d/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-alpine-slalom-i00-standard--sltxs7d/05_reconcile_r1" + }, 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-0,0 +1,197 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-balance-board-i00-privileged--g7rtuyu", + "taskKey": "embodied-olympics-fun/balance_board", + "dag_sha256": "33a43b602711eb1f0ce8accf150479b69fb8b84456d1d75783d478a23c0f1d05", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 491, + "sim_steps": 491, + "horizon": 3050, + "episode_over": 1, + "progress": 0.0, + "stages_reached": 0, + "stages_total": 3, + "fell": 0, + "replay_s": 3.9, + "bad_trajectory": 0, + "metric_max_tilt_deg": 16.22, + "metric_time_on_board_s": 4.9, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 239, + "agent_resets": 53798, + "agent_replays": 4, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 5.219, + 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"观察：视频4.60–4.88 s机器人躯干持续倾倒、头部迅速降低并落向蓝色垫面，未恢复站立；本次视频在4.92 s结束，未出现平衡持续至30秒的表现。" + }, + { + "t": 4.88, + "log_step": 125, + "text_zh": "观察：log step 125对最终交付文件重新运行并用裁判重放，报告491行、仿真4.91 s结束、success=false、time_on_board_s=4.9，失败事件为仿真4.908 s头部触地；其状态散列与log step 66保存并重放的候选相同。视频4.88 s的倾倒终态与该结果一致；run.json的reward另报deterministic=1、replay_success=0。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频0.0 s及0.2–4.6 s机器人以脚接触棕色板面承重，腿与躯干随板体倾斜而调整；手臂在空中摆动。视频4.60–4.88 s机器人逐渐倒下，log step 125最终交付重放的裁判事件报告头部触地。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_on_board_s", + "value": 4.9, + "unit": "s", + "threshold": 30.0, + "direction": "higher_better" + }, + { + "name": "max_tilt_deg", + "value": 16.22, + "unit": "deg", + "threshold": null, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "balanced_30s", + "t": 4.6, + "log_step": 125, + "where": "操作中", + "evidence_zh": "观察：机器人正在板上保持平衡，视频4.60–4.88 s躯干不断倾倒、头部降向垫面，此后没有恢复；log step 125最终交付文件的裁判重放报告仿真4.908 s头部触地并终止，实际计时4.9秒，未完成30秒。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 4.6, + "log_step": 125, + "evidence_zh": "观察：视频4.60 s起机器人上身继续向板外倒下，视频4.80 s身体接近水平，视频4.88 s头部已降至垫面附近；log step 125最终文件的裁判重放明确报告头部触地。机器人失去全身平衡，未能恢复。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "t": 4.6, + "log_step": 68, + "source_zh": "日志", + "evidence_zh": "推断：生成交付动作的平衡反馈未能同时抑制板体晃动与机器人前后姿态漂移。log step 58的控制器代码以质心相对滚筒位置、板倾角和角速度反馈驱动髋滚转，并以踝俯仰反馈控制前后姿态；log step 66保存该候选且重放散列一致。log step 68对同一best6候选的诊断输出显示，髋滚转力矩反复达到约±138.9 N·m，仿真4.80–4.91 s的前向位移xp由0.701增至0.848 m、骨盆高度由0.482降至0.126 m；视频4.60–4.88 s也显示持续倾倒。log step 100、101、125确认最终生成器及交付文件仍复现该491行动作候选，故将其归为稳定控制不足，不据此指定某个增益错误。" + } + ], + "gap_zh": "未提供逐帧状态日志，25 fps视频不能量出接触力或排除每个物理步的瞬时接触；头部触地的精确部位与仿真时刻由log step 125最终交付文件的裁判事件补充。反馈控制归因结合控制器代码、同一候选的会话诊断与视频推断，尚不能定位具体错误增益或各控制通道的贡献。", + "unmet": { + "balanced_30s": false + } + }, + "summary_zh": "机器人在滚筒板上以脚支撑并持续调整身体，但视频约4.6 s开始无法恢复地倾倒，最终交付文件的裁判重放报告头部触地，平衡计时仅4.9秒，“平衡满30秒”未达成（0/1）。同一候选的控制器代码和诊断记录支持反馈控制未能抑制前后漂移的判断；无逐帧状态日志，无法进一步确定具体增益及接触力原因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "标注与视频、log一致：balanced_30s未达成，机器人在视频约4.4–4.9 s倒下，最终交付重放491行、4.91 s头部/触地失败，平衡·反馈控制归因已标为推断并有代码与诊断支持。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:35:48Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": 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index 0000000000000000000000000000000000000000..8ae89dcdfb70bbf1f2dfabdf7d4b00f3fa347b59 --- /dev/null +++ b/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-privileged--ghyqtbm.json @@ -0,0 +1,191 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-balance-board-i00-privileged--ghyqtbm", + "taskKey": "embodied-olympics-fun/balance_board", + "dag_sha256": "33a43b602711eb1f0ce8accf150479b69fb8b84456d1d75783d478a23c0f1d05", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 117, + "sim_steps": 117, + "horizon": 3050, + "episode_over": 1, + "progress": 0.0, + "stages_reached": 0, + "stages_total": 3, + "fell": 0, + "replay_s": 2.49, + "bad_trajectory": 0, + "metric_max_tilt_deg": 14.89, + "metric_time_on_board_s": 1.16, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 12, + "agent_resets": 7, + "agent_replays": 7, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 5.943, + "peak_processes": 26, + "peak_disk_gb": 0.24, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-balance-board-i00-privileged--ghyqtbm/replay.mp4", + "duration_s": 1.2, + "fps": 25.0, + "frames": 30, + "sha256": "c33cd9b67f745d5fe0e5ced0f38d9ed73fb5df51dfce9b61e5a6a1031412a351" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "balanced_30s": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.2, + "log_step": null, + "text_zh": "观察：视频0.00–0.40 s，机器人双脚在棕色板面上承重，腿部与躯干发生姿态调整，板面在蓝色滚筒上反复倾斜；这是已启动的平衡尝试。" + }, + { + "t": 1.16, + "log_step": 217, + "text_zh": "观察：已查看视频0.00–1.16 s全部30帧及脚板区域放大图；末段机器人向画面左侧倾斜、屈膝，板与滚筒的相对位置明显偏移，录像至此结束。log step 217对最终交付trajectory.npz重新生成并在新进程重放，输出117行、仿真1.17 s、the deck touched the floor；评分器metric_time_on_board_s=1.16、replay_success=0，未达到30.0秒。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频0.04–1.16 s，机器人双脚接触棕色板面承重，腿部和躯干调整姿态；双手垂在身体两侧，未见手部接触板或滚筒。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_on_board_s", + "value": 1.16, + "unit": "s", + "threshold": 30.0, + "direction": "higher_better" + }, + { + "name": "max_tilt_deg", + "value": 14.89, + "unit": "deg", + "threshold": null, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "balanced_30s", + "t": 1.16, + "log_step": 217, + "where": "操作中", + "evidence_zh": "观察：视频0.80–1.16 s机器人持续侧倾、屈膝，板与滚筒相对偏移，未恢复稳定姿态即结束。log step 217最终交付文件的新进程重放在仿真1.17 s报告the deck touched the floor；评分器记录有效板上时间1.16秒，故失败发生在正在执行的平衡满30秒步骤。" + }, + "unmet": { + "balanced_30s": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 1.16, + "log_step": 217, + "evidence_zh": "观察：视频0.40–1.16 s，机器人上身逐渐侧倾，双腿屈曲，脚下板面来回摆动且板与滚筒明显偏心；log step 217重放最终交付文件报告板体触地，平衡支撑系统未能维持。视频末帧机器人尚未倒卧，评分器fell=0，不声称机器人身体已触地。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "log_step": 141, + "source_zh": "日志", + "evidence_zh": "推断：log step 141所写生成脚本用板倾角、角速度、滚筒位置/速度及重心偏移计算lean，同时改变双髋侧摆与双踝反向侧摆目标；log step 178修正参考姿态构建与实际控制共用同一episode的问题后，最终文件由全新初始状态生成，log step 194、217重放均仍在仿真1.17 s板体触地。结合视频0.04–1.16 s持续板面振荡及机器人侧倾，所交付控制律未能稳定板、滚筒与身体的耦合运动，支持反馈控制失稳；不把已修复的录制问题列为最终根因。" + } + ], + "gap_zh": "没有状态日志或逐物理步接触记录；视频25 fps且板底挡块部分遮挡，不能单凭画面确定触地的是板体哪一处及首次接触的毫秒时刻，具体终止原因由最终交付文件重放日志补充。agent在log step 218自述位置控制响应滞后导致振荡，但缺少最终交付对应的指令与实测响应时序，未将该滞后或某个增益进一步确定为根因。" + }, + "summary_zh": "机器人已用双脚支撑在滚筒板上并尝试调节姿态，但板面反复摆动、身体侧倾，最终交付重放因板体触地结束；有效板上时间1.16秒，“平衡满30秒”未达成，节点最终0/1。生成脚本和录像支持反馈控制未能稳定耦合运动；会话中参考姿态与录制起点混用的问题已修复，不构成最终交付根因。无状态日志，板底遮挡使具体触地点与毫秒时刻无法核实。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成(0/1)、断点balanced_30s、平衡+反馈控制的标注与视频(1.16 s,30帧)、评分器 metric_time_on_board_s=1.16 及 log step 217 相符；未发现需改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:32:18Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-balance-board-i00-privileged--ghyqtbm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-balance-board-i00-privileged--ghyqtbm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fa2db5cddf48f110687f39fd5b8c5779fd7afddc47c396bda7611ac4eb577d5e", + "video_sha256": "c33cd9b67f745d5fe0e5ced0f38d9ed73fb5df51dfce9b61e5a6a1031412a351", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-privileged--kxi6dtp.json b/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-privileged--kxi6dtp.json new file mode 100644 index 0000000000000000000000000000000000000000..7c2fe6182d900eb4f84219cd01ab01180dcf9162 --- /dev/null +++ b/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-privileged--kxi6dtp.json @@ -0,0 +1,219 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-balance-board-i00-privileged--kxi6dtp", + "taskKey": "embodied-olympics-fun/balance_board", + "dag_sha256": "33a43b602711eb1f0ce8accf150479b69fb8b84456d1d75783d478a23c0f1d05", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 672, + "sim_steps": 672, + "horizon": 3050, + "episode_over": 1, + "progress": 0.0, + "stages_reached": 0, + "stages_total": 3, + "fell": 0, + "replay_s": 4.39, + "bad_trajectory": 0, + "metric_max_tilt_deg": 21.38, + "metric_time_on_board_s": 6.71, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 233, + "agent_resets": 199111, + "agent_replays": 12, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 8.092, + "peak_processes": 61, + "peak_disk_gb": 0.992, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-balance-board-i00-privileged--kxi6dtp/replay.mp4", + "duration_s": 6.76, + "fps": 25.0, + "frames": 169, + "sha256": "bb0eba727e52e719e7fd6e239d168a2cc944ecacd9b8022567b056c734bf94fa" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "balanced_30s": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.4, + "log_step": null, + "text_zh": "观察：视频 0.00–0.60 s，机器人已在棕色板面上，以双脚承重并调整腿、躯干姿态，蓝色滚筒在板下；随后视频 0.80–5.60 s 仍在板上进行平衡调整。已尝试本步骤，但尚未满足持续30秒的完成条件。" + }, + { + "t": 6.72, + "log_step": 422, + "text_zh": "观察：视频 5.60–6.72 s，机器人躯干侧倾，板相对蓝色滚筒移动，画面右侧板端向垫面下降；末帧机器人双脚仍在板上，录像随即结束。log step 422 对最终交付文件的回放由裁判报告 failed=\"the deck touched the floor\"、time_s=6.72、time_on_board_s=6.71，且这些指标与本次 reward 一致；未达到30秒。" + }, + { + "t": 6.72, + "log_step": 423, + "text_zh": "观察：log step 423 对同一最终文件的第二次新进程回放得到相同终态散列，reward.deterministic=1；log step 425 确认生成脚本逐元素复现672行动行。上述证据对应最终交付，不将会话中其他测试的存活时间或摔倒算入本次进度。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.40–6.72 s，机器人的左右脚接触棕色板面承重，腿和躯干调整姿态；末帧双脚仍在板面上。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_on_board_s", + "unit": "s", + "threshold": 30.0, + "direction": "higher_better", + "value": 6.71 + }, + { + "name": "max_tilt_deg", + "unit": "deg", + "threshold": null, + "direction": "lower_better", + "value": 21.38 + } + ], + "failure": { + "breakpoint": { + "ref": "balanced_30s", + "t": 6.7, + "log_step": 422, + "where": "操作中", + "evidence_zh": "观察：视频 6.20–6.72 s，机器人仍在用脚支撑平衡板，躯干侧倾，板相对滚筒偏移且画面右侧板端下降。log step 422 中最终文件的裁判回放在仿真 6.72 s 因“the deck touched the floor”结束，time_on_board_s=6.71；该终止与视频末端动作及本次 reward 指标一致，本步骤未修复或完成。" + }, + "unmet": { + "balanced_30s": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 6.72, + "log_step": 422, + "evidence_zh": "观察：视频 6.20–6.72 s，机器人躯干倾斜，板相对蓝色滚筒偏移，画面右侧板端下沉；末帧双脚仍在板面上，未见机器人身体倒地。log step 422 对最终交付轨迹的裁判回放报告 failed=\"the deck touched the floor\"、仿真 time_s=6.72、time_on_board_s=6.71，与本次 reward 指标一致，reward.fell=0。推断：机器人未能保持板与滚筒支撑系统的平衡，板体失稳触地；此处平衡失败不等于机器人已经倒地。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "t": 6.7, + "log_step": 409, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 267、333 的生成脚本及 log step 409 的最终候选搜索代码显示，agent 使用重心相对滚筒偏差、滚筒相对板偏移及板倾角反馈，调节双髋侧摆和腰侧摆，并叠加开局短暂偏置；log step 418、422 将选定候选写入生成脚本并生成最终672行文件。视频 5.60–6.72 s 中，该控制下的躯干侧倾、板与滚筒相对偏移仍继续发展，最终裁判报告板体触地。由控制代码和实际运动共同推断，平衡反馈未能抑制这一偏移并维持支撑系统稳定；未将某个具体增益认定为已证实的不当参数。" + } + ], + "gap_zh": "无状态日志，单一场馆视角及25 fps录像不能分辨触地瞬间是板端本体还是下方挡块，也不能重建毫秒级接触力或精确重心轨迹；板体触地由最终文件的裁判回放结果补充确认。反馈控制归因为代码与运动结果的联合推断，具体失稳参数及力学链条未确定。" + }, + "summary_zh": "机器人从开局即以脚支撑滚筒上的板面并持续调整姿态，但平衡满30秒节点未达成，最终进度0/1。视频末段板相对滚筒偏移、板端下沉，最终交付的裁判回放在仿真6.72秒因板体触地终止，记录在板时间6.71秒、最大倾角21.38度；控制代码与画面支持反馈控制未能维持平衡的归因。无状态日志，无法确认触地点细节或具体失稳参数。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 8, + "summary_zh": "节点值、断点、时钟均正确（balanced_30s 未达成，final=false，板触地由 log step 422 的裁判回放支持）。唯一问题：现象记为 约束·违反约束，但失败是板体失稳触地、失去平衡，按 TAXONOMY/DECISIONS S14 与 FAIL-2 应记 全身·平衡，不另记违反约束。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 8, + "summary_zh": "节点 balanced_30s 未达成、断点、现象（全身·平衡）、根因（反馈控制）及时钟均与视频和 log step 422 裁判回放一致，未发现需改动之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:44:33Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": 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a/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-privileged--njg2uoe.json b/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-privileged--njg2uoe.json new file mode 100644 index 0000000000000000000000000000000000000000..03cc17537ae6858b5b60eb51cdee0de6d4445516 --- /dev/null +++ b/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-privileged--njg2uoe.json @@ -0,0 +1,171 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-balance-board-i00-privileged--njg2uoe", + "taskKey": "embodied-olympics-fun/balance_board", + "dag_sha256": "33a43b602711eb1f0ce8accf150479b69fb8b84456d1d75783d478a23c0f1d05", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 3000, + "sim_steps": 3000, + "horizon": 3050, + 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s仍在板上站立一致，支持无违规完成节点；未将agent工作时间换算为视频时间。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频0.00–2.00 s及视频29.00–30.00 s可见机器人双脚踩在棕色板面承重，腿与躯干随板的倾斜调整姿态；脚部支撑持续至视频30.00 s。手臂在身体两侧调姿，未见手部接触板或滚筒。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_on_board_s", + "value": 30.0, + "unit": "s", + "threshold": 30.0, + "direction": "higher_better" + }, + { + "name": "max_tilt_deg", + "value": 6.03, + "unit": "deg", + "threshold": null, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "机器人在开局晃动后恢复较稳的站姿，以脚支撑在滚筒承托的板上，视频30.00 s完成唯一节点“平衡满30秒”，最终进度1/1，无失败断点。评分器记录成功且确定性重放通过，板上时间30.0 s、最大倾角6.03°，与视频末帧仍稳定站立一致。无状态日志，25 fps录像不能逐毫秒排除瞬时违规接触，完整接触历史由评分器成功结论补充支持。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "唯一节点「平衡满30秒」在视频30.00 s达成、final=true，与评分器重放结果（success、3000步、time_s=30.0、fell=0）和视频帧一致；无失败断点，contact_actual（腿/躯干·支撑）与帧相符，时钟无换算。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:34:11Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-balance-board-i00-privileged--njg2uoe/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": 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每秒抽帧显示机器人保持站在板上，双手垂在体侧，板由滚筒承托，板端悬于垫面上方。" + }, + { + "t": 30.0, + "log_step": null, + "text_zh": "观察：视频 29.0–30.0 s 逐帧检查及视频 30.0 s 末帧显示，机器人仍以脚支撑在棕色板上，板下蓝色滚筒可见，板端离地；inputs/run.json 的 reward 记录 success=1、replay_success=1、deterministic=1、fell=0、metric_time_on_board_s=30.0，支持本节点在视频 30.0 s 达成。" + }, + { + "t": null, + "log_step": 170, + "text_zh": "观察：log step 169 明确保留已验证的最大倾角 10.15° 轨迹；log step 170 的交付核对输出显示动作文件为 3000 行、两次新进程重放终态相同且重新生成的动作完全一致。此前调参失败属于其他会话尝试，不作为本次评分轨迹的失败。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0 s、视频 2.0–30.0 s 所检帧中，机器人的脚底接触棕色板面，腿和躯干随开局板体晃动调整姿态，随后保持站立支撑；未见手臂接触板或滚筒。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_on_board_s", + "unit": "s", + "threshold": 30.0, + "direction": "higher_better", + "value": 30.0 + }, + { + "name": "max_tilt_deg", + "unit": "deg", + "threshold": null, + "direction": "lower_better", + "value": 10.15 + } + ], + "failure": null, + "summary_zh": 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index 0000000000000000000000000000000000000000..09be542f25a1a9d6c7dc24502c42d3215b551dfa --- /dev/null +++ b/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-privileged--umhjyt4.json @@ -0,0 +1,190 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-balance-board-i00-privileged--umhjyt4", + "taskKey": "embodied-olympics-fun/balance_board", + "dag_sha256": "33a43b602711eb1f0ce8accf150479b69fb8b84456d1d75783d478a23c0f1d05", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 983, + "sim_steps": 983, + "horizon": 3050, + "episode_over": 1, + "progress": 0.0, + "stages_reached": 0, + "stages_total": 3, + "fell": 0, + "replay_s": 4.8, + "bad_trajectory": 0, + "metric_max_tilt_deg": 15.98, + "metric_time_on_board_s": 9.82, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 949, + "agent_resets": 4658, + "agent_replays": 8, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 2.279, + "peak_processes": 10, + "peak_disk_gb": 0.84, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-balance-board-i00-privileged--umhjyt4/replay.mp4", + "duration_s": 9.84, + "fps": 25.0, + "frames": 246, + "sha256": "c4fcd8009a98f98a045e715f1e61116a1c632487849e10397556dcf3790763ac" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "balanced_30s": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频开局机器人双脚已站在棕色板面上，板底由蓝色滚筒承托；视频全程粗看并密看视频8.40–9.80 s，机器人先以脚支撑、摆臂及调整腿部姿态维持平衡，末段倾倒离板，未出现持续至30秒的完成状态。" + }, + { + "t": 9.8, + "log_step": 669, + "text_zh": "观察：视频9.40–9.80 s机器人躯干快速倾斜下降，视频9.72–9.80 s已翻倒在板侧。log step 668明确重放最终交付文件，log step 669裁判输出success=false、983个动作、time_on_board_s=9.82，触地事件为仿真9.822 s的left_upper_arm；与本视频9.84 s内的跌落相符，且与log step 507的重放末态散列一致。推断：未满30秒即身体触地，本节点从未达成。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频开局至末段跌落前，机器人以双脚或交替脚接触棕色板面承重，腿与躯干调整姿态，手臂在空中摆动；视频9.52–9.80 s支撑丧失并离板倾倒。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_on_board_s", + "unit": "s", + "threshold": 30.0, + "direction": "higher_better", + "value": 9.82 + }, + { + "name": "max_tilt_deg", + "unit": "deg", + "threshold": null, + "direction": "lower_better", + "value": 15.98 + } + ], + "failure": { + "breakpoint": { + "ref": "balanced_30s", + "t": 9.5, + "log_step": 669, + "where": "操作中", + "evidence_zh": "观察：视频9.40–9.68 s机器人在板上维持平衡时躯干倾斜并迅速下坠，视频9.72–9.80 s身体翻倒离板，之后没有恢复。log step 669对最终交付文件的裁判重放报告仿真9.822 s左上臂触地并终止；机器人在平衡满30秒这一步操作中失败。" + }, + "unmet": { + "balanced_30s": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 9.5, + "log_step": 669, + "evidence_zh": "观察：视频9.40–9.80 s机器人躯干偏倒、髋部下降，脚失去板上支撑，整机翻倒到板侧地面；log step 669的最终文件重放明确报告left_upper_arm触地。此处可见整机失衡跌落。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 504展示生成并保存交付轨迹的控制脚本：先用腿部支撑力矩调度，再用walk_agile根据板倾角与骨盆位置调整侧向命令，之后切换walk及run_arms；后段使用预设侧向和转向命令。log step 667确认保留同一生成方案，log step 669确认交付文件可确定性重放，却仍在仿真9.822 s左上臂触地；结合视频9.40–9.80 s的倾倒，所用全身控制未能维持板上支撑和躯干稳定。证据支持控制层归因，尚不能确定更细子类。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "未提供状态日志；视频为25 fps的单一场馆视角，不能独立核实毫秒级接触及各关节力矩、足底滑移。左上臂这一具体触地部位依据最终交付文件的裁判重放事件（log step 669），视频支持整体跌落；控制根因无法进一步细分为反馈、轨迹或特定参数问题。" + }, + "summary_zh": "机器人以脚支撑滚筒上的板并进行姿态调节，评分器记录在板时间9.82秒，“平衡满30秒”未达成，最终0/1节点。视频约9.5秒开始明显倾倒，最终交付文件重放确认左上臂触地；现象为全身失衡，归因于所用控制方案未维持稳定。没有状态日志，无法进一步确定具体关节或接触力层面的原因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "节点未达成、断点、平衡现象与控制根因均有视频与log 669裁判重放支持，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:32:27Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-balance-board-i00-privileged--umhjyt4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-balance-board-i00-privileged--umhjyt4/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "10ff50150c1395affff167cc432a569b63d2c30e42d381980f0e292662782071", + "video_sha256": "c4fcd8009a98f98a045e715f1e61116a1c632487849e10397556dcf3790763ac", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-privileged--xnvwy57.json b/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-privileged--xnvwy57.json new file mode 100644 index 0000000000000000000000000000000000000000..5360abbd2af9a10f1481fee9cc8f6b85d18e3141 --- /dev/null +++ b/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-privileged--xnvwy57.json @@ -0,0 +1,196 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-balance-board-i00-privileged--xnvwy57", + "taskKey": "embodied-olympics-fun/balance_board", + "dag_sha256": "33a43b602711eb1f0ce8accf150479b69fb8b84456d1d75783d478a23c0f1d05", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 414, + "sim_steps": 414, + "horizon": 3050, + "episode_over": 1, + "progress": 0.0, + "stages_reached": 0, + "stages_total": 3, + "fell": 0, + "replay_s": 5.42, + "bad_trajectory": 0, + "metric_max_tilt_deg": 24.75, + "metric_time_on_board_s": 4.13, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 42, + "agent_resets": 477, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.738, + "peak_processes": 9, + "peak_disk_gb": 0.252, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-balance-board-i00-privileged--xnvwy57/replay.mp4", + "duration_s": 4.16, + "fps": 25.0, + "frames": 104, + "sha256": "b96c6319c5898026bbec9d0b67204370177e0e2091b32ef26089e83f0785a18a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "balanced_30s": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00–3.20 s，机器人以双脚支撑在棕色板面上，板下由蓝色滚筒承托；机器人有摆臂和躯干倾斜，确实开始了持续平衡尝试。" + }, + { + "t": 3.8, + "log_step": 66, + "text_zh": "观察：视频 3.60–3.96 s，板向画面左侧下倾加剧，机器人躯干同时向左倾倒；视频 4.00–4.12 s，躯干继续倒向接近横卧，双脚不再保持正常站立支撑，录像在视频 4.16 s 结束。log step 66 的脚本执行后保存轨迹，仿真 4.14 s 的裁判反馈为“fell on the board”；其持续时长与动作外观符合评分视频。" + }, + { + "t": 4.12, + "log_step": null, + "text_zh": "推断：评分器 reward.metric_time_on_board_s=4.13，且视频 4.12 s 已见机器人倒向板旁，持续时间远未达到仿真 30.0 s；结合完整视频中的失衡，平衡满30秒事件未达成。reward.success=0、replay_success=0、deterministic=1 支持这一判断。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–3.80 s，机器人的两脚接触棕色板面承重，腿和躯干随板面晃动；视频 4.00–4.12 s 支撑姿态崩溃并侧倒。双臂伸展摆动，未见手抓握板体。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_on_board_s", + "value": 4.13, + "unit": "s", + "threshold": 30.0, + "direction": "higher_better" + }, + { + "name": "max_tilt_deg", + "value": 24.75, + "unit": "deg", + "threshold": null, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "balanced_30s", + "t": 3.6, + "log_step": 66, + "where": "操作中", + "evidence_zh": "观察：视频 3.60 s 起，机器人随倾斜的板面明显向画面左侧倾倒，此后至视频 4.12 s 未恢复站立，躯干接近横卧。log step 66 保存的轨迹在仿真 4.14 s 被裁判以“fell on the board”结束；评分器只记录板上时间4.13秒，未达到持续平衡要求。" + }, + "unmet": { + "balanced_30s": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 3.8, + "log_step": 66, + "evidence_zh": "观察：视频 3.60–3.96 s，机器人双腿和躯干随板面向左倾斜，随后视频 4.00–4.12 s 躯干迅速倒向近水平，一脚向外抬离，未能恢复支撑。log step 66 的已保存轨迹也以裁判反馈“fell on the board”结束；这是已开始平衡后的失衡倒下。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "log_step": 66, + "evidence_zh": "推断：log step 66 的交付脚本每步都调用 make_lowcmd(w, u_roll=0.157845, u_diff=-0.050)，腰和手臂目标也保持固定；脚本读取板倾角、滚筒位置和重心仅用于打印，没有据此修正关节目标，虽有支撑力前馈和关节PD，未形成对板上整体平衡误差的有效纠正。该次日志中仿真 3.30–3.75 s 板倾角持续增大，随后裁判报“fell on the board”；视频 3.60–4.12 s 同样显示偏斜扩大并侧倒，支持平衡反馈控制不足。", + "source_zh": "日志" + } + ], + "gap_zh": "无状态日志或逐物理步接触对，视频最后一帧为视频 4.12 s，无法精确确认终止瞬间是哪一非脚部位碰板；log step 66 的裁判文字可支持倒在板上的判定，但不细分碰撞部位。日志后续的恢复状态与反馈参数测试属于会话实验，未见替换已保存失败轨迹的成功交付。log step 77 虽为模型过滤提示，但 log step 66 已保存发生物理失败的轨迹，评分视频亦复现侧倒，故按该交付轨迹标注。" + }, + "summary_zh": "机器人已用双脚在滚筒承托的板面上开始保持平衡，但视频 3.60–4.12 s 出现不可恢复的侧倒，平衡满30秒节点未达成，最终为0/1；评分器记录板上时间4.13秒、最大倾角24.75度。已保存轨迹的脚本固定姿态目标，未根据整体平衡误差调整目标，支持反馈控制不足；缺少状态日志，终止瞬间的具体碰板部位无法精确确认。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "节点未达成、断点（3.6 s 起侧倒）、平衡/反馈控制标注均与视频和 log step 66 一致，未发现需修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:38:07Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-balance-board-i00-privileged--xnvwy57/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-balance-board-i00-privileged--xnvwy57/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "164efe83857c686e4d9ca04deb43e09e28173e436ab461848a70c989c1343ee0", + "video_sha256": "b96c6319c5898026bbec9d0b67204370177e0e2091b32ef26089e83f0785a18a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-standard--cxzqwds.json b/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-standard--cxzqwds.json new file mode 100644 index 0000000000000000000000000000000000000000..88c08fb4be4e5691bf236db066973108e73a9b1e --- /dev/null +++ b/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-standard--cxzqwds.json @@ -0,0 +1,191 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-balance-board-i00-standard--cxzqwds", + "taskKey": "embodied-olympics-fun/balance_board", + "dag_sha256": "33a43b602711eb1f0ce8accf150479b69fb8b84456d1d75783d478a23c0f1d05", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 113, + "sim_steps": 4787, + "calls": 2390, + "rows": 4697, + "resets": 50, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 2159.8, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.605, + "peak_processes": 9, + "peak_disk_gb": 2.548, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-balance-board-i00-standard--cxzqwds/replay.mp4", + "duration_s": 1.16, + "fps": 25.0, + "frames": 29, + "sha256": "af28ab0f8dd37a627f18019a432928c37d4f0cb4940c03da7157911e06056f2a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "balanced_30s": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00–0.72 s，机器人双脚接触棕色板面，蓝色滚筒承托板体；机器人摆臂并调整腿、躯干，板和身体有晃动。此时尚未满足持续平衡30秒的事件判据。" + }, + { + "t": 0.88, + "log_step": 290, + "text_zh": "观察：视频 0.80–1.12 s，机器人向画面右侧持续倾倒，躯干越出板面上方，末帧身体已接近横向，脚部支撑姿态破坏；整段视频仅1.16秒，未出现保持至30秒。log step 290 的末次现场尝试由服务返回 done=True、outcome=\"touched the roller\"、stages_reached=0/3；log step 291 确认为 Episode 51、control_steps=113、resets_left=0，reward.graded_by_live=1。此前50次尝试不计入本视频进度。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–0.96 s，机器人的脚接触棕色平衡板面承重，腿和躯干随板晃动并调整姿态；双臂在空中摆动，未见手抓物体。视频 1.04–1.12 s，侧倒时脚部支撑姿态破坏。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_on_board_s", + "value": null, + "unit": "s", + "threshold": 30.0, + "direction": "higher_better" + }, + { + "name": "max_tilt_deg", + "value": null, + "unit": "deg", + "threshold": null, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "balanced_30s", + "t": 0.88, + "log_step": 290, + "where": "操作中", + "evidence_zh": "观察：视频 0.80–1.12 s，机器人在用脚支撑平衡板、摆臂纠偏的过程中向画面右侧倾倒，未恢复站稳；log step 290 最后一次现场尝试在仿真 1.13 s 返回失败，裁判终止原因为 touched the roller，未达到30秒。视频 0.88 s 取作持续侧倒的导航锚点，不把裁判终止条件另作节点。" + }, + "unmet": { + "balanced_30s": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 0.88, + "log_step": 290, + "evidence_zh": "观察：视频 0.80–1.12 s，机器人身体侧倾幅度逐渐增大，视频 1.04–1.12 s 双脚随身体倾翻，失去正常板上站立支撑，躯干倒向板外；log step 290 服务返回碰到滚筒而失败。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "t": 0.88, + "log_step": 290, + "source_zh": "日志", + "evidence_zh": "推断：log step 286 的最终脚本根据骨盆IMU横滚及角速度闭环调整髋、膝、踝和腰部关节；log step 290 执行该脚本时，仿真 0.44–0.60 s 的骨盆横滚由+5.11度摆至−10.70度，纠偏量u达到+0.75限幅，仿真 1.02 s 仍为−24.43度，仿真 1.13 s 达−47.93度并判负。视频 0.40–0.60 s 的姿态反摆及视频 0.80–1.12 s 的持续侧倒与日志一致，支持闭环未能抑制晃动并恢复平衡；未据此认定某一个增益参数错误。" + } + ], + "gap_zh": "观察：inputs/ 无状态日志；log step 290 的输出中段本身有截断。末帧视频 1.12 s 中板与腿部局部遮挡，无法逐物理步确认碰滚筒的具体身体部位，终止原因采用该次现场服务的裁判返回；不手工填写约束记录。run.json 的 reward 未报告 time_on_board_s 和 max_tilt_deg，故两指标均为null，不用视频时长或骨盆横滚代替。推断：现有日志支持反馈失稳，但不足以区分具体增益、关节指令限速或滚筒位置估计各自的因果贡献。" + }, + "summary_zh": "观察：末次评分局从双脚站在板上开始，机器人摆臂并调整腿、躯干，但在视频 0.80–1.12 s 持续侧倒，平衡满30秒节点未达成，最终为0/1；log step 290 的现场裁判以碰到滚筒终止。推断：最终闭环纠偏出现反摆并在限幅后仍无法恢复平衡，支持控制·反馈控制根因。观察：无状态日志，瞬时接触部位及具体控制参数的因果贡献无法确定，两个原生指标也未报告。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、断点、平衡现象与反馈控制根因均有视频和 log step 290 的支持，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:44:48Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-balance-board-i00-standard--cxzqwds/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-balance-board-i00-standard--cxzqwds/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d9e635d68bc9451644068411fef5d5fa3c35d32f0d9d461fd1a7f4f8ba3086c1", + "video_sha256": "af28ab0f8dd37a627f18019a432928c37d4f0cb4940c03da7157911e06056f2a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-standard--fgljdy4.json b/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-standard--fgljdy4.json new file mode 100644 index 0000000000000000000000000000000000000000..18c9b5d021723dc0695b48d9bbbc5a374b37f3d8 --- /dev/null +++ b/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-standard--fgljdy4.json @@ -0,0 +1,191 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-balance-board-i00-standard--fgljdy4", + "taskKey": "embodied-olympics-fun/balance_board", + "dag_sha256": "33a43b602711eb1f0ce8accf150479b69fb8b84456d1d75783d478a23c0f1d05", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 90, + "sim_steps": 515, + "calls": 201, + "rows": 343, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 5028.7, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.436, + "peak_processes": 16, + "peak_disk_gb": 2.564, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-balance-board-i00-standard--fgljdy4/replay.mp4", + "duration_s": 0.92, + "fps": 25.0, + "frames": 23, + "sha256": "d3719745a57b2516ef77b7ea0d0ba5e651242c10390bbd6ff9fc5db380a1bbcd" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "balanced_30s": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.00 s机器人已以双脚站在棕色板面上，蓝色滚筒承托板体；此时只是开始持续平衡，尚未满足30秒验收。" + }, + { + "t": 0.8, + "log_step": 110, + "text_zh": "观察：已检查视频0.00–0.88 s全部23帧；板体先向两侧摆动，视频0.76–0.88 s画面右侧板端快速下沉，机器人躯干随之向画面右侧倾斜，末帧未恢复。log step 110记录服务重置至episode 6后执行最后一次控制，服务在仿真0.90 s返回done=True、reason=failed，且最终control_steps=90；评分字段graded_by_live=1、success=0。视频全长仅0.92 s，本次尝试未持续至30秒。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频0.00–0.88 s机器人双脚接触棕色板面承重，双腿及躯干随板倾斜并调整姿态；未见手臂接触板面。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_on_board_s", + "value": null, + "unit": "s", + "threshold": 30.0, + "direction": "higher_better" + }, + { + "name": "max_tilt_deg", + "value": null, + "unit": "deg", + "threshold": null, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "balanced_30s", + "t": 0.8, + "log_step": 110, + "where": "操作中", + "evidence_zh": "观察：视频0.76–0.88 s机器人正在以脚支撑保持板上平衡，板体向画面右端迅速下倾，身体随之侧倾，直至末帧均未恢复；log step 110的最后一次现场尝试episode 6随后收到服务failed终止状态，未达到30秒。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 0.8, + "log_step": 110, + "evidence_zh": "观察：视频0.60–0.88 s板体由反向倾斜经过近水平后，画面右端快速降低至接近垫面，机器人躯干持续向画面右侧倾斜；这次摆动未被纠正，录像随之结束。log step 110的服务终态为done=True、reason=failed。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "source_zh": "日志", + "evidence_zh": "推断：agent脚本通过本体感知反馈调整髋部滚转和踝部反向滚转（log step 83、87）；最后一次现场尝试使用该闭环，log step 110中脚本估计的重心偏移u在仿真0.80 s为+0.088 m、仿真0.90 s为+0.167 m，而目标u_cmd均为−0.060 m，控制未能使其回到目标侧。结合视频0.76–0.88 s板体与机器人迅速侧倾，支持反馈调节未能稳定系统；这些u值是agent脚本计算值，并非独立状态真值。" + } + ], + "gap_zh": "无状态日志或裁判逐物理步接触事件；视频末帧为0.88 s，能看到板端逼近垫面及身体侧倾，不能确认触发终止的具体接触部位和毫秒级时刻。控制日志中的倾角、重心偏移是agent脚本估计，尚不足以锁定具体参数或估计误差。评分器未报告time_on_board_s和max_tilt_deg原生指标，故均留null；不将脚本自报存活时长或估计倾角代填。", + "unmet": { + "balanced_30s": false + } + }, + "summary_zh": "评分对应log step 110的第6次现场尝试：机器人双脚支撑在滚筒板上并尝试调节姿态，但视频0.76–0.88 s板体和身体迅速侧倾，未完成“平衡满30秒”，最终0/1节点。闭环控制未稳住板上系统，日志中的目标与估计重心偏移持续不一致支持反馈控制归因；无状态及裁判接触事件，具体触地部位和控制误差来源仍不确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点 balanced_30s 未达成、断点（视频约0.8 s、log step 110）、平衡现象和反馈控制归因都与视频和日志一致。最后一次尝试的 u、u_cmd 数值已标明是 agent 脚本计算值，推断与观察分开写。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:46:42Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-balance-board-i00-standard--fgljdy4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-balance-board-i00-standard--fgljdy4/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f5cea29a23c7d109d61fbd5532c4bf8474210f592f2e7296f9cbf555d797f489", + "video_sha256": "d3719745a57b2516ef77b7ea0d0ba5e651242c10390bbd6ff9fc5db380a1bbcd", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-standard--fhjegaj.json b/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-standard--fhjegaj.json new file mode 100644 index 0000000000000000000000000000000000000000..fd20f79c8cefb9a772cb438999106cbb9b219c68 --- /dev/null +++ b/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-standard--fhjegaj.json @@ -0,0 +1,195 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-balance-board-i00-standard--fhjegaj", + "taskKey": "embodied-olympics-fun/balance_board", + "dag_sha256": "33a43b602711eb1f0ce8accf150479b69fb8b84456d1d75783d478a23c0f1d05", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 192, + "sim_steps": 10111, + "calls": 10012, + "rows": 9955, + "resets": 50, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 5867.6, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 3.945, + "peak_processes": 16, + "peak_disk_gb": 0.319, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-balance-board-i00-standard--fhjegaj/replay.mp4", + "duration_s": 1.96, + "fps": 25.0, + "frames": 49, + "sha256": "9c5a35924cb5d3f80fcaf296bbf6be730755e3713621be10517abb32fed67823" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "balanced_30s": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00–1.88 s，机器人双脚站在蓝色滚筒承托的棕色板上，腿、躯干和手臂反复调整姿态；视频 1.92 s 末帧机器人侧倾，板面向画面右侧倾斜，低端降至垫面附近。整段评分视频不足30秒，未出现平衡满30秒的完成状态。" + }, + { + "t": 1.92, + "log_step": 184, + "text_zh": "观察：log step 184 中机器人服务确认最后一次现场尝试 episode=51、control_steps=192、sim_time_s=1.92、done=True、outcome=\"the deck touched the floor\"、stages_reached=0；reward 的 graded_by_live=1、live_success=0。推断：log step 4 的 control_dt=0.01 s，192×0.01=仿真 1.92 s，对应视频 1.92 s 末帧板端下沉，核对一致；本节点从未达成，先前测试结果不计入本次节点进度。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–1.88 s，机器人两脚直接接触棕色板面承重，腿和躯干随板摆动调节姿态；上肢在空中摆动。视频 1.92 s 末帧脚部支撑姿态改变、板体侧倾；本步骤实际接触为脚与板面的支撑。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_on_board_s", + "value": null, + "unit": "s", + "threshold": 30.0, + "direction": "higher_better" + }, + { + "name": "max_tilt_deg", + "value": null, + "unit": "deg", + "threshold": null, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "balanced_30s", + "t": 1.9, + "log_step": 184, + "where": "操作中", + "evidence_zh": "观察：视频 1.80–1.92 s，机器人仍在板上调节支撑，躯干侧倾，末帧板体画面右端明显下沉；log step 184 的现场服务记录 episode=51 在仿真 1.92 s 因板体触地判负。机器人正在执行持续平衡步骤，尚未达到30秒且之后未恢复该步骤。" + }, + "unmet": { + "balanced_30s": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 1.9, + "log_step": 184, + "evidence_zh": "观察：视频 0.00–1.88 s 机器人与板反复左右摆动，视频 1.92 s 机器人侧倾、脚部支撑姿态改变，板端下落；log step 184 的服务结论为板体触地。推断：机器人未能维持滚筒板支撑系统的平衡；录像结束时尚未显示身体倒地，不据此声称身体已经触地。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频", + "evidence_zh": "推断：视频 0.00–1.92 s 中，机器人已建立脚与板面的支撑并持续摆臂、调整腿和躯干，但板与身体的摆动未被稳定住，最终板端下沉；log step 184 确认板体触地判负。该执行表现支持平衡控制失败；没有本次尝试的状态估计真值对照，不能细分为估计漂移、某个增益错误或特定关节限位。" + }, + { + "cat": "交付", + "item": "交付操作出错", + "source_zh": "日志", + "evidence_zh": "观察：log step 180 的自动搜索代码逐一运行控制参数变体，只保存搜索最佳参数，未检查剩余重置次数或安排最后重跑最佳配置；log step 179 的先前测试为仿真 4.24 s，log step 183 报 reset budget exhausted，log step 184 确认无剩余重置且最终 episode=51 已在仿真 1.92 s 失败。agent 在 log step 187 自述最终评分留下了任意搜索变体而非重跑最佳配置。推断：最终尝试选择操作失误使较差变体成为评分轨迹；先前较佳配置也未达到30秒，不能据此声称正确选择即可成功。" + } + ], + "gap_zh": "观察：inputs/ 提供评分视频和完整会话日志，但没有状态日志；49帧评分视频已逐帧检查。板体触地由最后一次尝试的服务结论支持，无法从25 fps录像还原逐物理步接触或确认板端/挡块中具体哪个部位先触地；缺少 episode 51 的状态估计与真实状态对照，agent 在 log step 187 关于估计漂移的解释不能独立验证。reward 未报告 time_on_board_s 与 max_tilt_deg，原生指标值保留为null；服务的仿真终止时间另列为证据。" + }, + "summary_zh": "评分采用最后一次现场尝试 episode 51：机器人以双脚支撑滚筒板并反复调整姿态，在视频约1.9 s 时板端下沉，服务于仿真1.92 s 确认板体触地，因此“平衡满30秒”未达成，最终0/1节点。执行表现支持平衡控制失败；自动搜索没有保留重置次数重跑最佳配置，使较差变体成为评分尝试，但先前较佳测试同样不足30秒。没有状态日志或本次尝试的估计误差对照，无法确认更细的控制机制。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "评分视频仅1.96 s，与log step 184服务读数(episode 51, sim 1.92 s, 板体触地, stages 0)一致；balanced_30s未达成、断点、平衡现象、控制与交付根因均有证据支持，时钟换算有核对，未发现需改动之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:41:19Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-balance-board-i00-standard--fhjegaj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-balance-board-i00-standard--fhjegaj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "58b2e39ca673a25b16c0e33097d7bb47556344faf7d76f213e2ab07bd40aa69f", + "video_sha256": "9c5a35924cb5d3f80fcaf296bbf6be730755e3713621be10517abb32fed67823", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-standard--heqfwxz.json b/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-standard--heqfwxz.json new file mode 100644 index 0000000000000000000000000000000000000000..829e3fa264d560efb84cf14bb11b844496c06ade --- /dev/null +++ b/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-standard--heqfwxz.json @@ -0,0 +1,191 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-balance-board-i00-standard--heqfwxz", + "taskKey": "embodied-olympics-fun/balance_board", + "dag_sha256": "33a43b602711eb1f0ce8accf150479b69fb8b84456d1d75783d478a23c0f1d05", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 84, + "sim_steps": 4218, + "calls": 1413, + "rows": 4108, + "resets": 50, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 3305.1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.414, + "peak_processes": 10, + "peak_disk_gb": 1.15, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-balance-board-i00-standard--heqfwxz/replay.mp4", + "duration_s": 0.88, + "fps": 25.0, + "frames": 22, + "sha256": "28834a45943f10dfcb3340c80665c2d046f3386c00eff91650e338d2f43e91b9" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "balanced_30s": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频0.00 s机器人已以双脚站在棕色板面上，蓝色滚筒承托板体，双手垂在身体两侧；这只是持续平衡的起点，尚未满足30秒验收。" + }, + { + "t": 0.84, + "log_step": 224, + "text_zh": "观察：逐帧检查视频0.00–0.84 s，机器人与板向画面右侧逐渐倾斜，视频0.64–0.84 s倾斜明显加剧，末帧低侧板端降至蓝色地面。log step 224的最终现场尝试返回裁判outcome=\"the deck touched the floor\"、仿真0.84 s、stages=0；log step 230确认最后一局episode=51、control_steps=84且done=True。录像未到30秒便结束，本节点从未完成。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频0.00–0.84 s机器人的双脚接触棕色板面承重，腿与躯干随板逐渐侧倾；可见过程中双手没有接触板或滚筒。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_on_board_s", + "value": null, + "unit": "s", + "threshold": 30.0, + "direction": "higher_better" + }, + { + "name": "max_tilt_deg", + "value": null, + "unit": "deg", + "threshold": null, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "balanced_30s", + "t": 0.8, + "log_step": 224, + "where": "操作中", + "evidence_zh": "观察：视频0.64–0.84 s，正在板上承重的机器人继续侧倾，板体低侧向地面落下，未恢复平衡；log step 224中最终现场尝试的裁判结果为板体触地，仿真0.84 s终止、stages=0。失败发生在持续保持平衡这一步。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 0.8, + "log_step": 224, + "evidence_zh": "观察：视频0.00 s机器人近直立站在滚筒板上；视频0.64–0.84 s身体侧倾扩大，板的一端抬高、另一端落向地面，末帧已失去原有滚筒板平衡。log step 224返回裁判“the deck touched the floor”；画面截至此处，未显示机器人身体随后完全倒地。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "t": 0.8, + "log_step": 224, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 210建立的控制器读取骨盆IMU，将横向加速度换算为重心偏移，并通过双髋滚转目标闭环纠偏；log step 214加入低通滤波，log step 216保留该反馈分支，log step 224明确使用此控制器，以k1=25、k2=5、tauf=0.005执行最终尝试。视频0.40–0.84 s身体和板的侧倾继续扩大直至板端触地，说明最终反馈控制未能稳定滚筒板上的支撑。尚无最终局关节目标与实测曲线来证明某个增益、力矩上限或接触参数是具体原因。" + } + ], + "gap_zh": "没有状态日志或最终局逐控制步的关节、力矩与接触记录，无法核实失稳的具体控制环节或毫秒级首次接触时刻；未将agent关于控制余量不足的自述视为已证实的环境限制。run.json的reward未报告time_on_board_s和max_tilt_deg，故两项原生指标均为null；log step 224打印的仿真0.84 s仅作为该局终止的辅助证据。", + "unmet": { + "balanced_30s": false + } + }, + "summary_zh": "评分对象是最后一次现场尝试：机器人从双脚站在滚筒板上开始，在视频0.64–0.84 s明显侧倾，末帧板端落至地面，“平衡满30秒”未达成，最终节点为0/1。log step 224的裁判触地结果与录像一致，最终使用的IMU闭环反馈未能稳定支撑，断点为保持平衡操作中。无状态日志和最终局控制曲线，无法进一步确认具体失稳机制，两项原生指标也未由reward报告。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "节点未达成、末帧板端触地、断点balanced_30s、平衡现象与反馈控制根因均与录像和日志一致；未发现需要修改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:36:13Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-balance-board-i00-standard--heqfwxz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-balance-board-i00-standard--heqfwxz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "46f9ad888026f7a25c69784afb59a6a48344de4be1988e2b3761a72764b94590", + "video_sha256": "28834a45943f10dfcb3340c80665c2d046f3386c00eff91650e338d2f43e91b9", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-standard--lpgnyly.json b/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-standard--lpgnyly.json new file mode 100644 index 0000000000000000000000000000000000000000..2d07c31b65236a0463a6a56b7a103163319c99b5 --- /dev/null +++ b/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-standard--lpgnyly.json @@ -0,0 +1,186 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-balance-board-i00-standard--lpgnyly", + "taskKey": "embodied-olympics-fun/balance_board", + "dag_sha256": "33a43b602711eb1f0ce8accf150479b69fb8b84456d1d75783d478a23c0f1d05", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 126, + "sim_steps": 5232, + "calls": 5190, + "rows": 5232, + "resets": 50, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 5043.5, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 4.6, + "peak_processes": 21, + "peak_disk_gb": 0.336, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-balance-board-i00-standard--lpgnyly/replay.mp4", + "duration_s": 1.28, + "fps": 25.0, + "frames": 32, + "sha256": "2cc60f4c642b088d22735575d21bc39b32ae22beda0ac0670507cf921e9a7ede" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "balanced_30s": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 机器人已经双脚站在棕色板面上，板下蓝色滚筒承托板体；视频 0.00–1.24 s 全部32帧可见机器人通过腿、髋与躯干运动随板体左右摇摆，确实开始了保持平衡的尝试。" + }, + { + "t": 1.24, + "log_step": 194, + "text_zh": "观察：视频 1.24 s 机器人仍在板上，板体再次向画面右侧下倾；整段视频只有1.28秒。log step 192–194 的最后一轮脚本运行 KNEE c0=0.1395,Kd2=0.20，输出仿真 1.26 s、reason=failed；log step 197 的后续重置被服务以 reset budget exhausted 拒绝，没有开始新尝试。" + }, + { + "t": 1.24, + "log_step": 198, + "text_zh": "推断：最后一次现场尝试与评分视频的短时摇摆过程及结束长度相符，未持续到仿真 30.0 s，故 balanced_30s 从未达成。log step 198 对最后一次尝试的身份说明与 log step 192–197 一致；此前仿真 1.49 s 的测试不计为本次进度。成功参考视频在参考视频 30.00 s 仍显示脚支撑板面、滚筒承托板体，仅用来核对达成外观。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–1.24 s，机器人的两只脚接触棕色板面承重，腿与躯干随板的摇摆调整姿态；双臂在身体两侧，没有可见的手撑板动作。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_on_board_s", + "unit": "s", + "threshold": 30.0, + "direction": "higher_better", + "value": null + }, + { + "name": "max_tilt_deg", + "unit": "deg", + "threshold": null, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "balanced_30s", + "t": 1.2, + "log_step": 194, + "where": "操作中", + "evidence_zh": "观察：视频 1.16–1.24 s，机器人仍在用脚支撑摇摆的板面，板体又向画面右侧下倾，录像随后结束；log step 194 记录最后一次现场尝试在仿真 1.26 s 以 reason=failed 结束。推断：失败发生在保持平衡30秒的持续操作中，视频约 1.2 s 作为末次未修复摇摆的导航锚点，不能由此确定具体违规接触。" + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 160 的 KNEE 控制器代码根据机器人惯性测量单元的横滚姿态、角速度及髋关节角反馈，持续调整髋、腰与左右膝的目标角；log step 192 的最后一次配置为 c0=0.1395,Kd2=0.20，log step 194 输出仿真 1.26 s 失败。视频 0.12–0.40 s 和视频 0.84–1.24 s 可见板体倾斜反向后再次反向，机器人持续运动却未消除摇摆。推断：该闭环控制没有维持本次板上平衡；缺少该次完整传感与接触记录，归到控制，不能进一步断定某个增益、状态估计或接触布局是具体根因。" + } + ], + "gap_zh": "已逐帧检查评分视频全部32帧，包括视频 0.28–1.24 s 的末秒，并放大检查视频 0.88–1.24 s 的板、脚与滚筒。末帧机器人仍站在板上，未清楚显示身体失去支撑、身体落地或板端触地；25 fps 的视频也未覆盖仿真 1.26 s 的终止物理步。inputs/ 无状态日志，reward 未报告具体违规类型；log step 200 中“板端/边缘碰撞”及振幅、频率是 agent 自述，不能代替本次接触证据。因此失败现象留空，不能将摇摆本身直接标为摔倒、碰撞或违反约束。评分器也未报告 time_on_board_s、max_tilt_deg，两项原生指标留 null；日志中的仿真终止时刻不冒充评分器指标。", + "unmet": { + "balanced_30s": false + } + }, + "summary_zh": "机器人在评分视频 0.00–1.24 s 用双脚支撑棕色板面并持续调整姿态，但板体反复摇摆；最后一次现场尝试在仿真 1.26 s 失败，平衡满30秒节点未达成，最终0/1。断点为 balanced_30s 的操作中，代码与视频支持控制未能维持平衡，但末帧没有清楚显示具体违规接触，失败现象留空；此前测试结果不计入本次进度。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点 balanced_30s 未达成、断点、contact_actual 与证据一致；视频仅1.28 s，末帧未显示具体违规，现象留空并写明 gap_zh 可接受，控制根因的限定措辞合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:41:23Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-balance-board-i00-standard--lpgnyly/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-balance-board-i00-standard--lpgnyly/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2dacc0220ed0e078e46722672bfe221b66f539596e402040649d279f90b7479c", + "video_sha256": "2cc60f4c642b088d22735575d21bc39b32ae22beda0ac0670507cf921e9a7ede", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-standard--q8pdmdo.json b/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-standard--q8pdmdo.json new file mode 100644 index 0000000000000000000000000000000000000000..cae7c55cda5332dea9fd422a090d14a9dfb2e56a --- /dev/null +++ b/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-standard--q8pdmdo.json @@ -0,0 +1,196 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-balance-board-i00-standard--q8pdmdo", + "taskKey": "embodied-olympics-fun/balance_board", + "dag_sha256": "33a43b602711eb1f0ce8accf150479b69fb8b84456d1d75783d478a23c0f1d05", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 177, + "sim_steps": 177, + "calls": 96, + "rows": 177, + "resets": 0, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 2525.4, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.294, + "peak_processes": 10, + "peak_disk_gb": 2.277, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-balance-board-i00-standard--q8pdmdo/replay.mp4", + "duration_s": 1.8, + "fps": 25.0, + "frames": 45, + "sha256": "476af4beb8c451a884284f98f1de23c79778267e9ba78f773d999e98ea1c56f2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "balanced_30s": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 3, + "text_zh": "观察：视频0.00秒机器人已双脚站在棕色板面上，板底由蓝色滚筒承托，双臂未撑板；log step 3现场服务报告episode=1、control_steps=0。该节点要求连续完成仿真30.0秒，开局站在板上尚不构成达成。" + }, + { + "t": 1.76, + "log_step": 78, + "text_zh": "观察：逐帧检查视频0.00–1.76秒，机器人先反复左右晃动，视频1.52–1.76秒身体明显向画面右侧倾倒、板端向垫面降低，录像随即结束。log step 78中基准现场机器人服务的裁判返回done=True、outcome=\"the deck touched the floor\"、sim_time_s=1.77、control_steps=177、stages_reached=0；reward中resets=0、sim_steps=177、live_success=0，表明这是唯一现场受评回合，后续本地测试不计入节点进度。" + }, + { + "t": 1.76, + "log_step": 78, + "text_zh": "推断：log step 6规格中的控制周期为0.01秒，log step 78的177个现场控制步对应仿真1.77秒；其终止前倾倒与视频1.72–1.76秒末帧相符，差异小于一帧，故以视频约1.6秒作失衡导航点。节点在未满仿真30.0秒时已因板体触地失败，全程未达成。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频0.00–1.76秒机器人用脚接触棕色板面承重，腿与躯干随板晃动并调整姿态，末段连同板体失衡；手臂未见接触板面或滚筒。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_on_board_s", + "value": null, + "unit": "s", + "threshold": 30.0, + "direction": "higher_better" + }, + { + "name": "max_tilt_deg", + "value": null, + "unit": "deg", + "threshold": null, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "balanced_30s", + "t": 1.6, + "log_step": 78, + "where": "操作中", + "evidence_zh": "观察：视频1.52–1.76秒机器人身体倾倒加剧，棕色板向一侧下沉，未再恢复；log step 78现场服务裁判在仿真1.77秒报告板体触地并终止。机器人正在执行板上平衡，未完成仿真30.0秒的持续平衡。" + }, + "unmet": { + "balanced_30s": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 1.6, + "log_step": 78, + "evidence_zh": "观察：视频1.52–1.76秒机器人躯干从接近直立迅速偏向画面右侧，双腿和板体一同倾斜，末帧仍在倾倒；log step 78现场裁判以\"the deck touched the floor\"判负。此处是支撑系统失衡，录像终止前未见机器人身体完全落地。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "log_step": 78, + "t": 1.6, + "source_zh": "日志", + "evidence_zh": "推断：log step 78实际提交到现场服务的控制脚本仅用骨盆横滚角及横滚角速度生成髋、踝、腰和肩的协调反馈，没有俯仰或偏航稳定反馈；其现场输出显示姿态反复过冲，最后控制量u达到+0.350上限，骨盆横滚从仿真1.54秒的-0.60度发展到仿真1.74秒的-30.99度。log step 82对同一现场记录的诊断还显示俯仰从仿真0.02秒约0.01度增加至仿真1.72秒约32.50度，与视频1.52–1.76秒持续倾倒一致，支持该反馈控制未能稳定全身及板体；不据此认定某个单独增益必然错误。" + } + ], + "gap_zh": "没有状态日志，25帧/秒画面不能确定触地的具体几何部位及首个1毫秒接触时刻；板体触地由log step 78的现场裁判确认。run.json的reward未报告time_on_board_s或max_tilt_deg，因此两项原生指标值均为null；现场终止的仿真1.77秒不冒充评分器未报告的指标。反馈控制归因为脚本、现场姿态读数与录像的联合推断，未能分离各反馈项或增益的因果贡献。" + }, + "summary_zh": "机器人从板上站立开始尝试平衡，完成0/1节点；视频约1.6秒开始明显倾倒，现场裁判在仿真1.77秒因板体触地终止（log step 78），未达到仿真30.0秒。现场脚本的姿态反馈未能抑制逐渐扩大的晃动与倾倒，根因标为控制·反馈控制；log step 199的模型过滤提示发生在该受评回合已结束之后。无状态日志，瞬时接触细节及两项未报告的原生指标仍有证据缺口。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "标签与视频、日志一致：视频0–1.76秒机器人在板上晃动后倾倒，现场服务在仿真1.77秒因板体触地终止（log step 78），节点未达成、断点与平衡/反馈控制归因均有证据支持。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:44:32Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-balance-board-i00-standard--q8pdmdo/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-balance-board-i00-standard--q8pdmdo/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "379d57f5f40f04de9caa59e641e9df5afa24b9e51ea613034da46254a2e972aa", + "video_sha256": "476af4beb8c451a884284f98f1de23c79778267e9ba78f773d999e98ea1c56f2", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-standard--zvk2rz4.json b/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-standard--zvk2rz4.json new file mode 100644 index 0000000000000000000000000000000000000000..fb776083279cdb38253d6415eb314ec4e568ab91 --- /dev/null +++ b/phase2/embodied-olympics-fun/balance_board/trajectories/embodied-olympics-fun-balance-board-i00-standard--zvk2rz4.json @@ -0,0 +1,190 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-balance-board-i00-standard--zvk2rz4", + "taskKey": "embodied-olympics-fun/balance_board", + "dag_sha256": "33a43b602711eb1f0ce8accf150479b69fb8b84456d1d75783d478a23c0f1d05", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 121, + "sim_steps": 3726, + "calls": 472, + "rows": 576, + "resets": 50, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 2131.0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.552, + "peak_processes": 9, + "peak_disk_gb": 0.837, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-balance-board-i00-standard--zvk2rz4/replay.mp4", + "duration_s": 1.24, + "fps": 25.0, + "frames": 31, + "sha256": "1fc5e1c138d1c0d72b18ab6f5d4c6c65fdd5328b5862e9018c67ae575bb610ea" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "balanced_30s": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 机器人双脚已站在棕色板面上，蓝色滚筒承托板底；视频 0.04–0.80 s 机器人抬臂并调整身体，双脚继续支撑板面。这只是开始执行持续平衡，尚未满足满30秒的事件判据。" + }, + { + "t": 1.2, + "log_step": 111, + "text_zh": "观察：视频 0.84–1.20 s 板面逐渐向画面右侧下倾，末段机器人随板明显侧倾，低端接近垫面；全片至视频 1.20 s 的最后一帧均未达到30秒。log step 111 的最终现场尝试（episode 51）服务返回仿真 1.21 s、outcome=the deck touched the floor、done=True、control_steps=121，与评分字段 n_actions=121 一致，故本节点未完成。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–1.20 s 机器人两脚接触并承重于棕色板面，腿和躯干随板调整；两臂在空中摆动，没有可见的手部触板或抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_on_board_s", + "value": null, + "unit": "s", + "threshold": 30.0, + "direction": "higher_better" + }, + { + "name": "max_tilt_deg", + "value": null, + "unit": "deg", + "threshold": null, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "balanced_30s", + "t": 1.2, + "log_step": 111, + "where": "操作中", + "evidence_zh": "观察：视频 1.04–1.20 s 机器人仍以双脚踩板执行平衡，但身体与板面倾斜迅速增大，板的画面右端降向垫面。log step 111 的第51次现场尝试在仿真 1.21 s 由服务报告板体触地并终止，未继续完成30秒。" + }, + "unmet": { + "balanced_30s": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 1.2, + "log_step": 111, + "evidence_zh": "观察：视频 0.84–1.20 s，机器人与支撑板向一侧倾斜加剧，最后一帧机器人明显侧倾、板端已降至接近垫面；log step 111 服务记录骨盆横滚从仿真 1.05 s 的−6.0°增至仿真 1.21 s 的−18.6°，随后报告板体触地而终止。推断：机器人未能维持滚筒板上的整体平衡；录像在板端触地处结束，没有显示身体倒地。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：agent 的平衡控制未能抑制机器人与板的侧倾增长。log step 107、109–110 的最终脚本固定髋部偏置和双臂配重姿态，以相机板面斜率及骨盆IMU角速度调节腰部；log step 111 实际运行时，腰部命令从仿真 1.05 s 的−0.29 rad 变到仿真 1.21 s 的−0.38 rad，骨盆横滚却由−6.0°增至−18.6°并发生板体触地，符合视频 1.04–1.20 s 的倾倒趋势。目标是在板上持续平衡，日志没有显示任务目标或顺序误读；证据仅支持控制层归因，不能确认具体增益、支撑布局或关节跟踪哪一项主导失败。", + "source_zh": "日志", + "log_step": 111 + } + ], + "gap_zh": "没有状态日志，25 fps画面不能单独判定1毫秒物理步的精确触地点和接触力；板体触地的判负由最终现场尝试的服务返回补充。缺少足以区分固定配重姿态、反馈增益和关节跟踪误差的测量，因此根因不细分。run.json 的 reward 未报告 time_on_board_s 或 max_tilt_deg，两个原生指标均填 null，不将仿真终止时刻代作指标值。" + }, + "summary_zh": "受评的是最后一次现场尝试（log step 111，episode 51）；机器人以双脚支撑板面、抬臂并调节腰部，但“平衡满30秒”未完成，节点最终为0/1。视频 1.04–1.20 s 身体与板面侧倾加剧，服务在仿真 1.21 s 报告板体触地并终止，断点为平衡操作中，根因归于未能稳定板体的控制。无状态日志，不能进一步区分配重、反馈增益和跟踪误差，也没有原生指标的评分字段。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "标注与视频和日志一致：受评为最后一次现场尝试（step 111），1.2 s 视频内板端下降、服务报板体触地，节点未完成，断点、平衡现象和停在“控制”的根因均有证据支持。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + 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a/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-privileged--9cmu5z2.json b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-privileged--9cmu5z2.json new file mode 100644 index 0000000000000000000000000000000000000000..42b8ee5da73e5599fca1664706c996e6aede85ff --- /dev/null +++ b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-privileged--9cmu5z2.json @@ -0,0 +1,197 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-free-kick-wall-i00-privileged--9cmu5z2", + "taskKey": "embodied-olympics-fun/free_kick_wall", + "dag_sha256": "6749223ae6b8a425b1f7d86513bee960c64b42ed756a390e3a358baebdc119ab", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 483, + "sim_steps": 483, + "horizon": 3000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 2, + "stages_total": 2, + "fell": 0, + "replay_s": 12.31, + "bad_trajectory": 0, + "metric_ball_x_m": 20.502, + "metric_cross_y_m": 0.312, + "metric_cross_z_m": 0.156, + "metric_fell_after_kick": 1.0, + "metric_kick_speed_m_s": 7.52, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 39, + "agent_resets": 2248, + "agent_replays": 11, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.93, + "peak_processes": 11, + "peak_disk_gb": 0.241, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-free-kick-wall-i00-privileged--9cmu5z2/replay.mp4", + "duration_s": 4.84, + "fps": 25.0, + "frames": 121, + "sha256": "9812afb9a139b3c658b8cf6aa4b471676e5835aa644484dfbc6b00bb4d38768c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "free_kick_scored": { + "method": "visual", + "intervals": [ + [ + 4.83, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.52, + "log_step": null, + "text_zh": "观察：视频 0.32–0.48 s 机器人左脚着地、右腿摆动，视频 0.52 s 右脚前伸且足球已离开原处，视频 0.56–0.72 s 球继续向人墙方向飞行；这是实际脚踢接触，不能仅凭离脚判入门。" + }, + { + "t": 2.12, + "log_step": null, + "text_zh": "观察：视频 1.52–2.12 s 足球沿画面中橙色人墙左侧向前运动，随后球进入人墙遮挡区域；视频 3.80–4.80 s 逐帧检查仍无法看清低处球门线的越线瞬间。机器人在视频约 1.0 s 踢后倒地。" + }, + { + "t": 4.8, + "log_step": 104, + "text_zh": "观察：评分器 reward.success=1、replay_success=1、deterministic=1，stages_reached=2/2；最终交付重放工具在 log step 104 输出 outcome=success、stages=[kick, goal]、ball_x_m=20.502、cross_y_m=0.312、cross_z_m=0.156，与评分器指标完全一致。log step 100–101 确认替换后的交付有 483 行，独立重放均成功且终态散列一致，故未使用更早会话候选的进球记录。" + }, + { + "t": 4.83, + "log_step": 104, + "text_zh": "推断：log step 2 的实例 control_dt=0.01 s，log step 22 明确每行对应一个控制步；最终交付在 log step 104 成功终止于控制步 483，故进球锚点为视频约 483×0.01=4.83 s，与视频总长 4.84 s 一致。已用视频 0.48–0.52 s 的起脚离球核对 log step 102 所记仿真 0.49 s 起脚；此映射采用交付的控制步而非 agent 工作时间。末段越线被遮挡，由成功裁判记录及门内横向、高度指标确认节点达成。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "观察：视频 0.48–0.52 s 机器人右脚击打足球，使球离开原处向人墙及球门方向运动。候选名称：击打；现有接触方式没有脚踢项，故用其他。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.32–0.72 s 机器人摆动右腿射门时，左脚接触草地承重；视频约 1.0 s 踢后躯干落地，此后保持倒地姿态至视频 4.80 s。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "ball_x_m", + "unit": "m", + "threshold": 20.49, + "direction": "higher_better", + "value": 20.502 + }, + { + "name": "cross_y_m", + "unit": "m", + "threshold": [ + -3.66, + 3.66 + ], + "direction": "target", + "value": 0.312 + }, + { + "name": "cross_z_m", + "unit": "m", + "threshold": [ + 0, + 2.44 + ], + "direction": "target", + "value": 0.156 + } + ], + "failure": null, + "summary_zh": "机器人在视频约 0.5 s 右脚踢出足球，球向人墙侧边行进；最终交付的裁判重放确认任意球入门，唯一节点在视频约 4.83 s 达成，终态为 1/1。视频约 1.0 s 的倒地发生在脚踢之后，任务允许该行为，评分器也记录成功。无状态日志，人墙遮住后段球路和低处越线位置，进球结果依据与交付一致的裁判字段，达成时间由控制步映射并与可见起脚核对。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "单节点 free_kick_scored 的 final=true 有评分器字段与最终交付重放（log step 104，483 控制步）支撑；控制步映射 483×0.01=4.83 s 与视频总长 4.84 s 相符，起脚约 0.5 s 在视频中可核对；contact_actual 与失败层（null）均合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + 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"HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-privileged--awo3eo9.json b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-privileged--awo3eo9.json new file mode 100644 index 0000000000000000000000000000000000000000..b7775b468469c370169348ed75df64853a3d857e --- /dev/null +++ b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-privileged--awo3eo9.json @@ -0,0 +1,197 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-free-kick-wall-i00-privileged--awo3eo9", + "taskKey": "embodied-olympics-fun/free_kick_wall", + "dag_sha256": "6749223ae6b8a425b1f7d86513bee960c64b42ed756a390e3a358baebdc119ab", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 366, + "sim_steps": 366, + "horizon": 3000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 2, + "stages_total": 2, + "fell": 0, + "replay_s": 4.07, + "bad_trajectory": 0, + "metric_ball_x_m": 20.514, + "metric_cross_y_m": 1.19, + "metric_cross_z_m": 0.595, + "metric_fell_after_kick": 1.0, + "metric_kick_speed_m_s": 8.97, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 64, + "agent_resets": 177, + "agent_replays": 5, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.78, + "peak_processes": 9, + "peak_disk_gb": 0.251, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-free-kick-wall-i00-privileged--awo3eo9/replay.mp4", + "duration_s": 3.68, + "fps": 25.0, + "frames": 92, + "sha256": "6167032550cd8856398591964562982094385d840a315993f708370d079026af" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "free_kick_scored": { + "method": "visual", + "intervals": [ + [ + 3.66, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.16, + "log_step": 140, + "text_zh": "观察：视频 0.00–0.12 s 足球在机器人脚前，视频 0.16 s 右脚前伸触球，视频 0.20–0.28 s 白球已离脚并向球门方向升起，左脚留在草地上支撑。log step 140 对最终交付轨迹的重放事件记录合法触球部位为 right_foot。" + }, + { + "t": 1.48, + "log_step": null, + "text_zh": "观察：视频 0.32–1.48 s 白球持续向远处球门运动，视频 1.28–1.48 s 接近橙色人墙的画面左缘，随后被人墙遮挡；已逐帧检查至视频 3.64 s，含末秒及球门放大图，无法从该视角独立辨清越线瞬间。视频约 0.80 s 机器人踢后倒地。" + }, + { + "t": 3.64, + "log_step": 140, + "text_zh": "观察：评分器字段 success=1、replay_success=1、deterministic=1、stages_reached=2/2；ball_x_m=20.514、cross_y_m=1.19、cross_z_m=0.595，符合 DAG 的球心越线范围。log step 136 的两个新进程对交付文件重放均返回 kick、goal 阶段及相同终态散列；log step 140 最终重新生成并重放仍成功，记录 goal 事件在仿真 3.655 s。" + }, + { + "t": 3.66, + "log_step": 140, + "text_zh": "推断：log step 133 的交付生成脚本注明控制周期 0.01 s；log step 140 的最终文件重放执行 366 个控制步，共仿真 3.66 s，与视频 3.68 s 时长相符。该重放的仿真 0.13 s 脚触球事件已与视频 0.12–0.20 s 的触球、离脚核对，因此将同一次重放仿真 3.655 s 的 goal 事件映射为视频约 3.66 s（末帧时间为视频 3.64 s，帧间精度约 0.04 s）。后段遮挡不直接否定进球，结合评分器成功判定该事件节点已完成并锁存。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "观察：视频 0.16–0.20 s 机器人右脚击打足球并将球踢离；候选名称：击打，现有接触方式无踢击项，不以推/扫代替。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.12–0.28 s 机器人右脚前摆踢球时，左脚接触草地支撑身体；踢后机器人倾倒，视频约 0.80 s 身体落地。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "ball_x_m", + "unit": "m", + "threshold": 20.49, + "direction": "higher_better", + "value": 20.514 + }, + { + "name": "cross_y_m", + "unit": "m", + "threshold": [ + -3.66, + 3.66 + ], + "direction": "target", + "value": 1.19 + }, + { + "name": "cross_z_m", + "unit": "m", + "threshold": [ + 0, + 2.44 + ], + "direction": "target", + "value": 0.595 + } + ], + "failure": null, + "summary_zh": "机器人右脚将球踢向球门，最终交付的确定性重放和评分器确认任意球入门，唯一节点完成（1/1），完成时刻由交付重放事件映射为视频约 3.66 s。机器人在视频约 0.80 s 踢后倒地，按任务规则不影响进球计数，因此没有失败断点。无状态日志，后段球路及越线瞬间被人墙遮挡，入门几何依据评分器的球心越线指标确认，未将离脚时刻当成完成时刻。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "成功运行，唯一节点 free_kick_scored 达成；评分器 success=1、越线指标合规，视频触球与倒地与标注一致，无失败断点，接触标注合理（击打记为其他、支撑脚）。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:35:11Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-free-kick-wall-i00-privileged--awo3eo9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-free-kick-wall-i00-privileged--awo3eo9/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "da5810bc7f43756d25331b3cf0a127c4efd8374c368d3331c1abf30fb123b667", + "video_sha256": "6167032550cd8856398591964562982094385d840a315993f708370d079026af", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-privileged--emdgrga.json b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-privileged--emdgrga.json new file mode 100644 index 0000000000000000000000000000000000000000..7c4ee4c9d76c3e51251163c0359d1b3db7ffbebc --- /dev/null +++ b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-privileged--emdgrga.json @@ -0,0 +1,192 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-free-kick-wall-i00-privileged--emdgrga", + "taskKey": "embodied-olympics-fun/free_kick_wall", + "dag_sha256": "6749223ae6b8a425b1f7d86513bee960c64b42ed756a390e3a358baebdc119ab", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 261, + "sim_steps": 261, + "horizon": 3000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 2, + "stages_total": 2, + "fell": 0, + "replay_s": 3.83, + "bad_trajectory": 0, + "metric_ball_x_m": 20.529, + "metric_cross_y_m": 1.656, + "metric_cross_z_m": 0.194, + "metric_fell_after_kick": 1.0, + "metric_kick_speed_m_s": 11.59, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 90, + "agent_resets": 3297, + "agent_replays": 3, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 2.319, + "peak_processes": 19, + "peak_disk_gb": 0.239, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-free-kick-wall-i00-privileged--emdgrga/replay.mp4", + "duration_s": 2.64, + "fps": 25.0, + "frames": 66, + "sha256": "1fdd858cc35eec25150515a43a2886c73b23eeb3a19fd62eae238202c64411a9" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "free_kick_scored": { + "method": "visual", + "intervals": [ + [ + 2.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.28, + "log_step": 40, + "text_zh": "观察：视频 0.16–0.24 s 机器人以左脚支撑、右腿前摆，视频 0.28–0.44 s 白球离开原来的足前位置向球门方向飞行，机器人随后倒地；log step 40 对最终交付轨迹的裁判重放记录第一次合法触球部位为 right_foot，仿真 0.252 s 达到 kick 阶段。" + }, + { + "t": 2.6, + "log_step": 40, + "text_zh": "观察：视频 0.96–1.20 s 白球沿橙色人墙画面左侧行进，随后球路在固定视角中被人墙遮挡；已逐帧检查视频 1.20–2.60 s，不能直接分辨门线处的球心。评分器 reward.success=1、replay_success=1、deterministic=1、stages_reached=2/2；最终球心 x=20.529 m，越线横向偏差为 1.656 m、高度为 0.194 m，均符合入门判据。" + }, + { + "t": 2.6, + "log_step": 40, + "text_zh": "推断：log step 40 是最终交付文件的重放，261 个控制步、每步 0.01 s（log step 15）合计仿真 2.61 s，与视频总长 2.64 s 相符；仿真 0.252 s 的右脚触球已在视频 0.24–0.28 s 核对，故以该重放裁判记录的仿真 2.604 s goal/success 事件推定视频约 2.60 s 入门，时间存在约一帧误差。log step 41 再次重放成功且终态散列相同，指标也与本次评分器字段一致。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "观察：视频 0.24–0.28 s 机器人右足向足球摆出，白球随即离脚；log step 40 的交付重放裁判记录确认 right_foot 合法触球。候选名称：击打；现有接触方式没有适用的踢击项。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.16–0.24 s 机器人左足接触草地、支撑右腿摆动的身体；踢后机器人在视频约 0.44–0.60 s 倒地。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "ball_x_m", + "unit": "m", + "threshold": 20.49, + "direction": "higher_better", + "value": 20.529 + }, + { + "name": "cross_y_m", + "unit": "m", + "threshold": [ + -3.66, + 3.66 + ], + "direction": "target", + "value": 1.656 + }, + { + "name": "cross_z_m", + "unit": "m", + "threshold": [ + 0, + 2.44 + ], + "direction": "target", + "value": 0.194 + } + ], + "failure": null, + "summary_zh": "机器人用右脚踢出白球，球沿人墙侧方行进，评分器及最终交付文件的两次一致重放确认任意球入门，唯一节点完成（1/1），入门时刻推定为视频约 2.60 s。机器人在视频约 0.44–0.60 s 踢后倒地，任务允许这一情况，不构成失败。无状态日志，后段球路被人墙遮挡，精确越线位置及入门时刻依据评分器字段和已用可见触球核对时钟的交付重放裁判记录。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "节点 free_kick_scored 达成（final true）与评分器字段、log step 40/41 一致；视频 0.28 s 起脚踢球、之后机器人倒地，球路后段被人墙遮挡，入门时刻 2.60 s 为带核对的推断，接触标注（腿/躯干×其他、支撑）正确，成功无 failure。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:36:14Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-free-kick-wall-i00-privileged--emdgrga/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-free-kick-wall-i00-privileged--emdgrga/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5f7fd27bfeb55d353a2d90b99231a14cca68f6ecbdb4e5f47c3df21708d3beba", + "video_sha256": "1fdd858cc35eec25150515a43a2886c73b23eeb3a19fd62eae238202c64411a9", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-privileged--mvbpbl7.json b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-privileged--mvbpbl7.json new file mode 100644 index 0000000000000000000000000000000000000000..5c55be51f9346b8e69a94f8bc4c9b342e4c11494 --- /dev/null +++ b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-privileged--mvbpbl7.json @@ -0,0 +1,191 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-free-kick-wall-i00-privileged--mvbpbl7", + "taskKey": "embodied-olympics-fun/free_kick_wall", + "dag_sha256": "6749223ae6b8a425b1f7d86513bee960c64b42ed756a390e3a358baebdc119ab", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 218, + "sim_steps": 218, + "horizon": 3000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 2, + "stages_total": 2, + "fell": 0, + "replay_s": 6.94, + "bad_trajectory": 0, + "metric_ball_x_m": 20.542, + "metric_cross_y_m": 1.103, + "metric_cross_z_m": 0.191, + "metric_kick_speed_m_s": 13.89, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 4, + "agent_resets": 0, + "agent_replays": 4, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 3.003, + "peak_processes": 17, + "peak_disk_gb": 0.251, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-free-kick-wall-i00-privileged--mvbpbl7/replay.mp4", + "duration_s": 2.2, + "fps": 25.0, + "frames": 55, + "sha256": "8d92f97e2c2f3f33e88fc82d72e6222ff0b389fae2baac36f2756d8cb5857219" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "free_kick_scored": { + "method": "visual", + "intervals": [ + [ + 2.16, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.36, + "log_step": 65, + "text_zh": "观察：视频 0.16–0.32 s，机器人以左脚着地支撑并将右腿后摆、前挥；视频 0.36–0.52 s，足球已离开脚前原位，向前上方飞出，机器人随后回收踢球腿。log step 65 的最终生成脚本对应右腿挥踢，踢后切换行走策略恢复站姿。" + }, + { + "t": 1.0, + "log_step": null, + "text_zh": "观察：逐帧检查视频 0.00–2.16 s；足球离脚后向橙色人墙的画面左侧、球门方向行进，视频约 1.00 s 后球路被人墙与远处小尺寸球门区域遮挡，不能直接辨清精确越线瞬间；机器人在视频 0.60–2.16 s 保持站立。参考成功视频的同一固定视角也存在人墙遮挡。" + }, + { + "t": 2.16, + "log_step": 70, + "text_zh": "推断：评分器 reward 中 success=1、replay_success=1、deterministic=1、stages_reached=2/2，且 metric_ball_x_m=20.542、metric_cross_y_m=1.103、metric_cross_z_m=0.191，确认该交付完成合法踢球及门内越线。log step 70 读取的最终交付文件为 218 行，与评分器 n_actions=218 一致。结合视频中踢出及后续球路，将任意球入门近似定位于视频末帧 2.16 s（约 0.1 s 精度）；精确越线时刻受遮挡限制，未把离脚时刻当作完成。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "观察：视频 0.28–0.36 s，机器人的右脚前挥击打足球，随后球离脚飞出。候选名称：击打；现有接触方式无踢击项，不能用推/扫代替。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.16–0.36 s，机器人右腿摆动时左脚着地支撑躯干；踢后双足重新支撑，视频 0.60–2.16 s 保持站立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "ball_x_m", + "unit": "m", + "threshold": 20.49, + "direction": "higher_better", + "value": 20.542 + }, + { + "name": "cross_y_m", + "unit": "m", + "threshold": [ + -3.66, + 3.66 + ], + "direction": "target", + "value": 1.103 + }, + { + "name": "cross_z_m", + "unit": "m", + "threshold": [ + 0, + 2.44 + ], + "direction": "target", + "value": 0.191 + } + ], + "failure": null, + "summary_zh": "机器人在视频约 0.32–0.36 s 以右脚踢出足球，踢后恢复站立；评分器确认合法踢球及门内越线，任意球入门节点最终完成 1/1，无失败断点。后段球路被人墙遮挡，已逐帧检查至视频 2.16 s，并结合评分器的越线坐标及确定性成功结果，将完成时间近似标在视频 2.16 s；没有状态日志，精确越线帧不能独立从画面确认。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，单节点 free_kick_scored 已达成；踢球画面、接触（腿/躯干 其他击打 + 支撑）与评分器数值一致，近似完成时间 2.16 s（视频时钟）在约 1 s 内，无失败断点，无需修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:33:52Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-free-kick-wall-i00-privileged--mvbpbl7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-free-kick-wall-i00-privileged--mvbpbl7/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "91deba13180e2a5caeb4b68349b986435ae91d04460fabc0b8e97f55bd2e4153", + "video_sha256": "8d92f97e2c2f3f33e88fc82d72e6222ff0b389fae2baac36f2756d8cb5857219", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-privileged--rctsezi.json b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-privileged--rctsezi.json new file mode 100644 index 0000000000000000000000000000000000000000..cfe91de5088af07f8e61fbb8bc3ecc969d3f31fe --- /dev/null +++ b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-privileged--rctsezi.json @@ -0,0 +1,197 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-free-kick-wall-i00-privileged--rctsezi", + "taskKey": "embodied-olympics-fun/free_kick_wall", + "dag_sha256": "6749223ae6b8a425b1f7d86513bee960c64b42ed756a390e3a358baebdc119ab", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 428, + "sim_steps": 428, + "horizon": 3000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 2, + "stages_total": 2, + "fell": 0, + "replay_s": 4.24, + "bad_trajectory": 0, + "metric_ball_x_m": 20.507, + "metric_cross_y_m": 2.607, + "metric_cross_z_m": 0.12, + "metric_fell_after_kick": 1.0, + "metric_kick_speed_m_s": 8.47, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 48, + "agent_resets": 2051, + "agent_replays": 22, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.044, + "peak_processes": 14, + "peak_disk_gb": 0.981, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-free-kick-wall-i00-privileged--rctsezi/replay.mp4", + "duration_s": 4.32, + "fps": 25.0, + "frames": 108, + "sha256": "7307c252ca000f2bbbe2736def79d9e788549cdeafbd65727c1c2f790d6ab4ff" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "free_kick_scored": { + "method": "visual", + "intervals": [ + [ + 4.28, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.6, + "log_step": null, + "text_zh": "观察：视频 0.44–0.56 s 机器人在白球后摆动右腿，左脚着地；视频 0.60–0.76 s 白球从右脚前方离开原位并向远处球门方向飞出，右腿继续前摆。" + }, + { + "t": 2.6, + "log_step": null, + "text_zh": "观察：视频 1.04–2.48 s 白球持续向橙色人墙的画面左侧行进，机器人在球离脚后向后倒地；视频约 2.60 s 后球进入人墙遮挡区域，视频 3.24–4.28 s 的逐帧检查未能辨出被遮挡的球门越线过程。同视角成功参照的后段也存在人墙遮挡，参照仅用于确认视野限制。" + }, + { + "t": 4.28, + "log_step": 183, + "text_zh": "观察：inputs/run.json 的评分器字段 success=1、replay_success=1、deterministic=1、stages_reached=2/2，球心末位 x=20.507 m，越线横向偏差 2.607 m、高度 0.120 m；log step 183 对最终交付文件的重放返回 success=true、stages=[kick,goal]、failed=null、executed_rows=428。log step 126 的两次独立重放终态散列及上述指标相同。" + }, + { + "t": 4.28, + "log_step": 183, + "text_zh": "推断：以评分器和最终文件重放的进球记录判定节点完成。log step 120 的生成脚本注明每控制步 0.01 s、先静立 40 步再后摆 12 步及挥踢 4 步；其挥踢结束约仿真 0.56 s，与视频 0.56–0.60 s 的脚触球及离脚核对一致。log step 183 的交付重放在 control step 428 因成功结束，428×0.01=仿真 4.28 s，与视频末帧 4.28 s、总长 4.32 s 一致，因此进球锚点记为视频约 4.28 s；越线位置被人墙遮挡，时间依赖控制步映射而非逐帧直接可见。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "观察：视频 0.56–0.60 s 机器人右脚击打足球，球随即向前离脚；候选名称：击打。现有接触方式没有踢击项，不能用推/扫代替。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.44–0.80 s 机器人左脚接触草地，在右腿后摆与向前踢球时承重。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "ball_x_m", + "unit": "m", + "threshold": 20.49, + "direction": "higher_better", + "value": 20.507 + }, + { + "name": "cross_y_m", + "unit": "m", + "threshold": [ + -3.66, + 3.66 + ], + "direction": "target", + "value": 2.607 + }, + { + "name": "cross_z_m", + "unit": "m", + "threshold": [ + 0, + 2.44 + ], + "direction": "target", + "value": 0.12 + } + ], + "failure": null, + "summary_zh": "机器人以右脚将足球踢向球门，评分器及交付文件的独立重放均确认合法踢球和进球，唯一节点“任意球入门”最终完成（1/1），进球锚点为视频约 4.28 s。视频中的倒地发生在球离脚之后，按任务规则不否决成功。无人墙后方视角或状态日志，进球越线被人墙遮挡，完成值由评分器确认，时间由已用脚踢事件核对的交付控制步映射推断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "成功运行，唯一节点 free_kick_scored 由评分器字段（success=1、stages 2/2、越线指标）和控制步映射判定，时间锚点 4.28 s 与视频长度一致；接触标注（击打=其他、支撑）与视频相符；无失败层。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:32:33Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-free-kick-wall-i00-privileged--rctsezi/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-free-kick-wall-i00-privileged--rctsezi/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5504d64c3df0d2c82b9f4339896affe53f2ec4ada0a84daecc67aa644a0b82f2", + "video_sha256": "7307c252ca000f2bbbe2736def79d9e788549cdeafbd65727c1c2f790d6ab4ff", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-privileged--xzhbvuc.json b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-privileged--xzhbvuc.json new file mode 100644 index 0000000000000000000000000000000000000000..dcc6f9f1e24daa5fe46a8cb631c8ee6695eb3bbc --- /dev/null +++ b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-privileged--xzhbvuc.json @@ -0,0 +1,192 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-free-kick-wall-i00-privileged--xzhbvuc", + "taskKey": "embodied-olympics-fun/free_kick_wall", + "dag_sha256": "6749223ae6b8a425b1f7d86513bee960c64b42ed756a390e3a358baebdc119ab", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 688, + "sim_steps": 688, + "horizon": 3000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 2, + "stages_total": 2, + "fell": 0, + "replay_s": 5.24, + "bad_trajectory": 0, + "metric_ball_x_m": 20.49, + "metric_cross_y_m": 1.749, + "metric_cross_z_m": 0.11, + "metric_fell_after_kick": 1.0, + "metric_kick_speed_m_s": 8.25, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 71, + "agent_resets": 1165, + "agent_replays": 9, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.868, + "peak_processes": 13, + "peak_disk_gb": 0.241, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-free-kick-wall-i00-privileged--xzhbvuc/replay.mp4", + "duration_s": 6.92, + "fps": 25.0, + "frames": 173, + "sha256": "dd3941ab835949bba7f09666548c97b9260842a92b779003ce6238ba9d1e3d1e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "free_kick_scored": { + "method": "visual", + "intervals": [ + [ + 6.88, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.0, + "log_step": null, + "text_zh": "观察：视频 2.80–2.96 s 足球仍在机器人脚前，视频 3.00–3.20 s 机器人右脚前摆后足球明显离开原位向前飞出，左脚留在草地支撑；视频约 4.0–4.8 s 足球沿画面中橙色人墙左侧前进。" + }, + { + "t": 6.88, + "log_step": 89, + "text_zh": "观察：视频 5.84–6.88 s 的密集末段帧中，机器人已倒在原射门位置，球门下部的球路被橙色人墙遮挡，无法直接辨认球心越线瞬间。log step 79 保存的交付轨迹、log step 85 再生成后的重放及 log step 89 最终重放均返回 success=true、stages=[kick,goal]、688 控制步、time_s=6.88，终态散列相同；本次评分器亦记录 replay_success=1、deterministic=1、两阶段全部完成，cross_y_m=1.749、cross_z_m=0.11。" + }, + { + "t": 6.88, + "log_step": 89, + "text_zh": "推断：结合视频中脚踢及绕墙球路与交付文件的原生重放成功记录，任意球入门节点成立。到达锚点取视频末段约 6.88 s：log step 6 的接口说明给出每控制步 0.01 s，交付重放的 688 步对应仿真 6.88 s，与视频最后一帧 6.88 s、总时长 6.92 s 相符；越线受遮挡，视频定位按约 0.5 s 精度理解，不能由画面独立核验精确球门边界。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "观察：视频约 2.96–3.08 s 机器人右脚向前摆击足球，球随即离脚前进；候选名称：击打。现有接触方式无踢击项，故用其他。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频约 2.96–3.20 s 机器人右脚摆击时，左脚接触草地支撑身体；踢后身体倾倒，视频约 4.4 s 已倒地。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "ball_x_m", + "unit": "m", + "threshold": 20.49, + "direction": "higher_better", + "value": 20.49 + }, + { + "name": "cross_y_m", + "unit": "m", + "threshold": [ + -3.66, + 3.66 + ], + "direction": "target", + "value": 1.749 + }, + { + "name": "cross_z_m", + "unit": "m", + "threshold": [ + 0, + 2.44 + ], + "direction": "target", + "value": 0.11 + } + ], + "failure": null, + "summary_zh": "本次交付轨迹完成唯一节点“任意球入门”（1/1）：视频约 3.0 s 机器人右脚踢球，足球从画面中人墙左侧绕行，交付文件最终重放及评分器均确认进球成功。机器人在视频约 4.4 s 踢后倒地，按任务规则不影响进球计数，因此无失败断点。没有状态日志，末段足球被人墙遮挡，入门时刻以视频末段约 6.88 s 为推断锚点，精确越线位置依赖评分器记录。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "单节点任意球入门、评分器 success=1、replay_success=1、无失败断点，与视频（约 3.0 s 脚踢、球绕墙、踢后倒地）一致；到达时间 6.88 s 已明示为末段推断锚点且标注精度约 0.5 s，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:33:14Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-free-kick-wall-i00-privileged--xzhbvuc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-free-kick-wall-i00-privileged--xzhbvuc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5a6df76020369b3ae32182b714c354901e8ed32ca1310f87fe093d6ea0c868bc", + "video_sha256": "dd3941ab835949bba7f09666548c97b9260842a92b779003ce6238ba9d1e3d1e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-standard--6ycvwkd.json b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-standard--6ycvwkd.json new file mode 100644 index 0000000000000000000000000000000000000000..6a733c6b057922f107b10cd3770a17a9df8f04bd --- /dev/null +++ b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-standard--6ycvwkd.json @@ -0,0 +1,195 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-free-kick-wall-i00-standard--6ycvwkd", + "taskKey": "embodied-olympics-fun/free_kick_wall", + "dag_sha256": "6749223ae6b8a425b1f7d86513bee960c64b42ed756a390e3a358baebdc119ab", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 580, + "sim_steps": 2095, + "calls": 9, + "rows": 732, + "resets": 2, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 1241.1, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 3.058, + "peak_processes": 15, + "peak_disk_gb": 0.332, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-free-kick-wall-i00-standard--6ycvwkd/replay.mp4", + "duration_s": 5.84, + "fps": 25.0, + "frames": 146, + "sha256": "7b3786a732ed94fc484fb6aaef56d33b126a007d669b71c8cd6c0c1da166539f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "free_kick_scored": { + "method": "visual", + "intervals": [ + [ + 5.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.08, + "log_step": null, + "text_zh": "观察：视频 2.04–2.16 s，G1 机器人右脚向前摆动，原先位于脚前的白球随之离脚并向远处球门方向运动；左脚在触球时接触草地支撑身体。" + }, + { + "t": 3.68, + "log_step": null, + "text_zh": "观察：视频 2.40–3.68 s，白球持续向橙色人墙画面左侧行进，随后在其左边缘附近被遮住；机器人踢后倒地。视频 4.60–5.80 s 的末段帧中，机器人仍卧地，球门前的球路受人墙遮挡，未直接看见越线瞬间。" + }, + { + "t": null, + "log_step": 49, + "text_zh": "观察：log step 49 的脚本重置后执行第三次在线射门，机器人服务返回 done=True、reason=success、outcome=success、stages_reached=2、stages_total=2；log step 50 查询同一服务，返回 episode=3、control_steps=580、done=True、reason=success。inputs/run.json 的评分字段 live_success=1、graded_by_live=1，与此一致；此前两次门外越线属于重置前的会话尝试。" + }, + { + "t": 5.8, + "log_step": 50, + "text_zh": "推断：以第三回合终止成功作为任意球入门事件，节点约在视频 5.80 s 达成并锁存。计时依据是 log step 40 所写驱动的控制周期 dt=0.01 s 与 log step 50 的本回合 control_steps=580，即 580×0.01=5.80 s，和视频末帧 5.80 s、总长 5.84 s 一致；log step 49 的服务本体感受 time_s 在仿真 2.04–2.10 s 显示右膝快速伸展，与视频约 2.08 s 的摆腿触球核对。越线被遮挡，达成时刻由本回合服务终止记录推定，未将离脚或到达人墙前当作完成。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "观察：视频约 2.08 s，机器人右足击打白色足球并使球离脚；候选名称：击打。现有接触方式没有踢击项，不能用推/扫表示该次瞬时射门。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频约 2.04–2.16 s，左足接触草地支撑右脚射门；随后机器人倒地，视频约 3.20 s 起躯干贴地。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "ball_x_m", + "unit": "m", + "threshold": 20.49, + "direction": "higher_better", + "value": null + }, + { + "name": "cross_y_m", + "unit": "m", + "threshold": [ + -3.66, + 3.66 + ], + "direction": "target", + "value": null + }, + { + "name": "cross_z_m", + "unit": "m", + "threshold": [ + 0, + 2.44 + ], + "direction": "target", + "value": null + } + ], + "failure": null, + "summary_zh": "评分回合为第三次在线尝试：机器人在视频约 2.08 s 用右足踢出足球，踢后倒地，机器人服务确认任意球入门，最终完成 1/1 节点。入门事件约在视频 5.80 s 锁存，依据本回合服务成功终止及控制步数推定；踢后倒地不否决本任务的成功。证据缺口是人墙遮住末段球路且没有状态日志，不能从画面独立核验精确越线位置；评分字段也未报告三个原生位置指标，故其值均留空。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功回合，唯一节点 free_kick_scored 为真、约视频 5.80 s，由第三回合服务成功终止和 580×0.01 s 控制步数推定，并在 2.08 s 的踢球事件处核对；接触（击打 + 支撑）符合画面，failure 为空合理。未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:36:16Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-free-kick-wall-i00-standard--6ycvwkd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-free-kick-wall-i00-standard--6ycvwkd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4af958394698d6c1e540a4e992f5d307bce5322fbdb313fa1ae5e04cb22745e8", + "video_sha256": "7b3786a732ed94fc484fb6aaef56d33b126a007d669b71c8cd6c0c1da166539f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-standard--eptpvpb.json b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-standard--eptpvpb.json new file mode 100644 index 0000000000000000000000000000000000000000..477d7ec2864f88e3662704bd03972c8647f5d91b --- /dev/null +++ b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-standard--eptpvpb.json @@ -0,0 +1,195 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-free-kick-wall-i00-standard--eptpvpb", + "taskKey": "embodied-olympics-fun/free_kick_wall", + "dag_sha256": "6749223ae6b8a425b1f7d86513bee960c64b42ed756a390e3a358baebdc119ab", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 389, + "sim_steps": 2287, + "calls": 18, + "rows": 113, + "resets": 2, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 5510.4, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.86, + "peak_processes": 7, + "peak_disk_gb": 0.339, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-free-kick-wall-i00-standard--eptpvpb/replay.mp4", + "duration_s": 3.92, + "fps": 25.0, + "frames": 98, + "sha256": "5573a8ae8ae7b8d3b7b6b7e6f7ae09c870d526f9ad258b33874252005437e787" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "free_kick_scored": { + "method": "visual", + "intervals": [ + [ + 3.89, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.28, + "log_step": 188, + "text_zh": "观察：视频 0.00–0.24 s 足球在机器人脚前；视频 0.24–0.32 s 机器人右脚前摆至足球处，球随即离开原位、向球门方向飞出，左脚接触草地支撑。log step 188 中 agent 脚本重置至 episode=3 后提交右腿踢球动作；这与本段视频的起始射门一致。" + }, + { + "t": 2.6, + "log_step": null, + "text_zh": "观察：视频 0.32–0.80 s 足球已与机器人分离，机器人随后倒地；视频 1.60–2.64 s 足球继续接近画面中橙色人墙的左侧边缘。已逐帧查看视频 2.68–3.88 s 的人墙与球门区域，球路被人墙遮挡，无法直接看清球心越过球门线的瞬间。" + }, + { + "t": 3.88, + "log_step": 188, + "text_zh": "观察：log step 188 的基准服务响应报告最后在线回合 episode=3、control_steps=389、sim_time_s=3.89、done=True、reason=success、outcome=success、stages_reached=2、stages_total=2；inputs/run.json 的 reward 同时给出 live_success=1、graded_by_live=1、finalized=1。此为服务端裁判结果；log step 176、178 的失败分别属于此前已重置的 episode=1、2。" + }, + { + "t": 3.89, + "log_step": 188, + "text_zh": "推断：以最后回合服务端裁判结果确认任意球入门。log step 3 给出控制周期 0.01 s，log step 188 的最后回合控制步 389 对应仿真 3.89 s；该回合视频长 3.92 s，且提交动作结束于控制步 30（仿真 0.30 s）与视频 0.28–0.32 s 所见脚部完成前摆、球离脚相符，据此将成功时刻映射为约视频 3.89 s（末帧为视频 3.88 s，存在一帧以内的采样误差）。节点为事件型，进球后保持已达成；不从球离脚时提前计为完成。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "观察：视频 0.24–0.32 s 机器人右脚挥向足球，足球随即离脚飞出。候选名称：击打；这是瞬时踢击，现有接触方式无踢击项。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.12–0.28 s 机器人挥右腿射门时，左脚接触草地支撑身体；视频 0.40–0.80 s 机器人在球已离脚后倒地。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "ball_x_m", + "unit": "m", + "threshold": 20.49, + "direction": "higher_better", + "value": null + }, + { + "name": "cross_y_m", + "unit": "m", + "threshold": [ + -3.66, + 3.66 + ], + "direction": "target", + "value": null + }, + { + "name": "cross_z_m", + "unit": "m", + "threshold": [ + 0, + 2.44 + ], + "direction": "target", + "value": null + } + ], + "failure": null, + "summary_zh": "最后受评的在线回合为 episode=3：机器人在视频约 0.28 s 用右脚踢出足球，球向人墙侧方及球门方向前进，服务端裁判在约视频 3.89 s 确认成功，任意球入门节点最终为 1/1。机器人踢后倒地不影响该任务验收；此前两个重置回合的失败不计入本段轨迹。证据缺口：末段球路受人墙遮挡，精确越线依服务端结果及控制步映射确认；无状态日志，评分 reward 未报告 DAG 所列三项原生距离指标，均保留 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "成功回合标注与视频和服务端结果一致：任意球入门节点 final=true，时刻由控制步 389 映射到视频约 3.89 s，并写明了映射与核对依据；接触标注符合击打规则（S16）；failure 为 null 合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:37:35Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-free-kick-wall-i00-standard--eptpvpb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-free-kick-wall-i00-standard--eptpvpb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "26e7212a9f6e4554d23a1f39a8d36c1996702fd4d9f957cbf57f3edad33a3c25", + "video_sha256": "5573a8ae8ae7b8d3b7b6b7e6f7ae09c870d526f9ad258b33874252005437e787", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-standard--fuqux4f.json b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-standard--fuqux4f.json new file mode 100644 index 0000000000000000000000000000000000000000..5644d2285794bd722385c84f4881be2ac6bb05f1 --- /dev/null +++ b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-standard--fuqux4f.json @@ -0,0 +1,214 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-free-kick-wall-i00-standard--fuqux4f", + "taskKey": "embodied-olympics-fun/free_kick_wall", + "dag_sha256": "6749223ae6b8a425b1f7d86513bee960c64b42ed756a390e3a358baebdc119ab", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 1184, + "sim_steps": 2999, + "calls": 22, + "rows": 292, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 2600.2, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 3, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.141, + "peak_processes": 14, + "peak_disk_gb": 1.415, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-free-kick-wall-i00-standard--fuqux4f/replay.mp4", + "duration_s": 11.88, + "fps": 25.0, + "frames": 297, + "sha256": "72170108fba76c94f9aa155b3d858aca0827f9305649889028e0c3faa5f99174" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "free_kick_scored": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.48, + "log_step": 284, + "text_zh": "观察：视频 0.40–0.52 s，机器人右脚向前摆动，白球从右脚前方离开并向人墙飞行；左脚着地支撑。log step 284 的机器人服务状态为 episode=6，表明这是最后一次在线回合。" + }, + { + "t": 1.9, + "log_step": null, + "text_zh": "推断：视频 1.56–1.92 s，白球接近并与橙色人墙正面轮廓重合，随后在视频 2.00–3.00 s 退回人墙前方，视频 4.00–6.80 s 持续滚向近处并离开画面下沿，说明射门被人墙挡回，未穿过远处球门。" + }, + { + "t": 11.84, + "log_step": 288, + "text_zh": "观察：视频 10.80–11.84 s 机器人始终倒地，球门处没有球进入；log step 288 中机器人服务返回的内置裁判字段为 done=True、reason=failed、outcome=\"the ball came to rest without a goal\"、stages_reached/stages_total=1/2，确认只完成原生踢球阶段，未完成入门。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "观察：视频 0.40–0.52 s，机器人右脚击中白色足球并将其踢离原位。候选名称：击打；现有接触方式没有踢击项，不能用推/扫代替。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–0.60 s，机器人左脚接触草地，支撑右腿摆动踢球；视频约 1.20 s 后躯干倒地接触草地。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "ball_x_m", + "unit": "m", + "threshold": 20.49, + "direction": "higher_better", + "value": null + }, + { + "name": "cross_y_m", + "unit": "m", + "threshold": [ + -3.66, + 3.66 + ], + "direction": "target", + "value": null + }, + { + "name": "cross_z_m", + "unit": "m", + "threshold": [ + 0, + 2.44 + ], + "direction": "target", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "free_kick_scored", + "t": 1.9, + "log_step": null, + "where": "操作中", + "evidence_zh": "推断：视频约 1.8–2.0 s，已被机器人踢出的白球在人墙正面改变运动方向，随后向踢球位置滚回，射门未进入球门且此后没有修复。log step 288 的内置裁判最终报告球停下未进球、阶段 1/2；踢后倒地按任务规则不否决进球，因此断点取任意球入门步骤。" + }, + "unmet": { + "free_kick_scored": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 1.9, + "log_step": null, + "evidence_zh": "推断：视频 1.56–1.92 s，白球向橙色人墙前进并出现在其正面轮廓内；视频 2.00–3.00 s 球从人墙前反向退回，视频 4.00–6.80 s 滚回机器人附近及画面下沿。前后连续帧支持球撞上人墙而被挡回，并非仅凭未进球判碰撞。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 280 的 agent 脚本选定右腿摆动航点，log step 284 将该航点序列用于最后在线回合；视频 0.40–0.52 s 显示右脚确实踢出球，但视频约 1.9 s 的球路撞上人墙并返回，未实现任务所需的绕墙或越墙射门。证据支持击球控制未产生所需球路，不能进一步区分足部接触几何、关节跟踪或具体参数问题。" + } + ], + "gap_zh": "观察：inputs/ 中没有状态日志，也没有本回合的逐时接触对或球速原生指标；球在固定视角仅数个像素，碰墙判定依赖接近、轮廓重合及反向返回的连续帧，碰撞时刻约为视频 1.9 s。log step 308 中 agent 自述“绕过人墙，只因速度不足而在约 11 米处停下”，与视频 2.00–6.80 s 球向近处滚回不符，未采用该自述作为本回合事实；现有证据不能核实其球速、摩擦或本地模型差异的具体归因。球离开画面后停下的精确位置不可见，但内置裁判结果确认未进球。" + }, + "summary_zh": "最后评分回合中，机器人右脚在视频约 0.48 s 踢出足球，但球在视频约 1.9 s 被橙色人墙挡回，唯一节点“任意球入门”未达成，终态为 0/1。击球控制未形成绕墙或越墙的入门球路；内置裁判在 log step 288 报告球停下未进门、原生阶段 1/2。无状态日志，具体触球动力学及球离开画面后的停球位置不可核实，agent 关于“绕墙后仅力度不足”的自述与视频不符。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、断点在 free_kick_scored、被挡/碰撞与控制根因均有视频支撑：视频约 1.6–2.0 s 球与人墙轮廓重合并在墙底下落，随后向近处回滚；log step 288 的服务裁判读数确认 1/2、未进球。未发现需修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:54:16Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun1/runs/embodied-olympics-fun-free-kick-wall-i00-standard--fuqux4f/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun1/runs/embodied-olympics-fun-free-kick-wall-i00-standard--fuqux4f/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "571006336f3bdb5765c353d042468acce9c6406dfc854b84ca536d51a0aa0777", + "video_sha256": "72170108fba76c94f9aa155b3d858aca0827f9305649889028e0c3faa5f99174", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-standard--nffpbhq.json b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-standard--nffpbhq.json new file mode 100644 index 0000000000000000000000000000000000000000..844dfc07bfec435d5758b422f939b91a3dae737e --- /dev/null +++ b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-standard--nffpbhq.json @@ -0,0 +1,206 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-free-kick-wall-i00-standard--nffpbhq", + "taskKey": "embodied-olympics-fun/free_kick_wall", + "dag_sha256": "6749223ae6b8a425b1f7d86513bee960c64b42ed756a390e3a358baebdc119ab", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 361, + "sim_steps": 1993, + "calls": 29, + "rows": 625, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 6138.8, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.574, + "peak_processes": 12, + "peak_disk_gb": 2.563, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-free-kick-wall-i00-standard--nffpbhq/replay.mp4", + "duration_s": 3.64, + "fps": 25.0, + "frames": 91, + "sha256": "e86fef402273167b614d98aa647d1d259faa84d0c19a57e83ff25ed98658ee6a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "free_kick_scored": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s，机器人站在白球后方，白球位于近处草地，橙色人墙与白色球门在远处。" + }, + { + "t": 3.4, + "log_step": 116, + "text_zh": "观察：视频 2.60–3.60 s 逐帧检查中，机器人在末段挥腿并向前倾倒，白球仍在原起球点附近，未向人墙或球门行进；视频 3.60 s 最后一帧也没有球入门。log step 116 的服务返回记录最后回合 a6-final：kick 段 done=True、reason=failed、outcome=fell，control_steps=361；run.json 的 n_actions=361，确认此前其他回合的触球测试不是本段评分结果。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–3.28 s，机器人双脚接触草地站立；视频约 3.36–3.60 s 挥腿时支撑姿态破坏、身体前倾。未观察到白球被踢离起点，故不补记脚与球的击打接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "ball_x_m", + "unit": "m", + "threshold": 20.49, + "direction": "higher_better", + "value": null + }, + { + "name": "cross_y_m", + "unit": "m", + "threshold": [ + -3.66, + 3.66 + ], + "direction": "target", + "value": null + }, + { + "name": "cross_z_m", + "unit": "m", + "threshold": [ + 0, + 2.44 + ], + "direction": "target", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "free_kick_scored", + "t": 3.4, + "log_step": 116, + "where": "操作中", + "evidence_zh": "观察：视频约 3.36–3.60 s，机器人执行挥腿动作时明显向前倾斜、腿部支撑失稳，白球仍在近处起点，任意球未入门。log step 116 的最后在线回合在 kick 段由服务判 outcome=fell 后结束；因此断点是正在执行的任意球入门步骤。" + }, + "unmet": { + "free_kick_scored": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 3.4, + "log_step": 116, + "evidence_zh": "观察：视频 3.32–3.60 s，机器人从直立姿态转为腿部展开、躯干持续前倾的失稳姿态，末帧尚未完全倒卧；log step 116 的服务已判定该回合 fell，白球未被送向人墙。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 3.4, + "log_step": 116, + "evidence_zh": "推断：踢球动作的全身控制未能维持挥腿期间的支撑平衡。log step 80 的 gen.py 将踢球实现为预设关节 PD 目标与前馈力矩的开环 lowcmd 动作；log step 116 以该脚本执行最终配置，服务报告 kick 段 fell 且 clipped=39，视频 3.36–3.60 s 同时显示挥腿时身体前倾失稳。现有证据足以定位控制层，但不能证明某一个力矩参数或截断就是直接原因。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志或接触对记录；远景可确认球未向球门行进及机器人失稳，但不能确定挥腿中是否发生极轻微脚球接触，也不能确定服务判 fell 的具体触地部位。评分器未报告 ball_x_m、cross_y_m、cross_z_m，故三项原生指标保留 null；不把此前离线测试的合法触球或球速计入评分回合。控制根因保留在大类，具体失稳机制未证实。" + }, + "summary_zh": "本次评分采用最后在线回合 a6-final，机器人开始任意球挥腿动作，但白球一直留在起点附近，任意球入门未达成，最终为 0/1。视频约 3.4 s 机器人明显前倾失稳，log step 116 的服务以 fell 结束该回合，证据支持控制层失败。没有状态与接触日志，无法确认细微脚球接触或具体失稳机制；此前测试中的合法触球不属于本次评分回合。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频、日志一致：评分回合 a6-final 在视频约 3.3–3.6 s 挥腿后前倾失稳，白球原地不动，free_kick_scored 未达成；断点、平衡现象和控制根因（停在大类）均有证据支持，未发现需修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:46:06Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-free-kick-wall-i00-standard--nffpbhq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-free-kick-wall-i00-standard--nffpbhq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "daa4e48911c4d36f1b9d8dadb09915b5dc81a104c6fbaf70a06d464f6a949d57", + "video_sha256": "e86fef402273167b614d98aa647d1d259faa84d0c19a57e83ff25ed98658ee6a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-standard--ttwwtmp.json b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-standard--ttwwtmp.json new file mode 100644 index 0000000000000000000000000000000000000000..10c96c6f35b9a913cd4a327ff28a9110554c2cd1 --- /dev/null +++ b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-standard--ttwwtmp.json @@ -0,0 +1,218 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-free-kick-wall-i00-standard--ttwwtmp", + "taskKey": "embodied-olympics-fun/free_kick_wall", + "dag_sha256": "6749223ae6b8a425b1f7d86513bee960c64b42ed756a390e3a358baebdc119ab", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 191, + "sim_steps": 4556, + "calls": 57, + "rows": 3884, + "resets": 22, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 5440.2, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 8.27, + "peak_processes": 19, + "peak_disk_gb": 2.536, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-free-kick-wall-i00-standard--ttwwtmp/replay.mp4", + "duration_s": 1.92, + "fps": 25.0, + "frames": 48, + "sha256": "b38ab3f5602a30d5e555c5a14e09ed8ebd144055d6d30c43d19a9f5c14572063" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "free_kick_scored": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s，G1 站在白球后，白球位于起踢点；远处可见橙色人墙和白色球门，尚未发生射门入门。" + }, + { + "t": 1.76, + "log_step": 236, + "text_zh": "观察：视频 1.48–1.88 s 的连续帧中，机器人摆腿、躯干大幅倾斜并倒下，白球仍在原起踢点附近，没有被送向人墙或球门；视频 1.88 s 最后一帧仍可在倒下机器人旁辨认白球。log step 236 的在线服务返回 episode 23、executed_rows=191、sim_time_s=1.91、done=True、reason=failed，与本次短视频的结束相符。" + }, + { + "t": 1.88, + "log_step": 237, + "text_zh": "观察：log step 237 仅恢复 gen.py 的参数并执行 --dry，输出 185 rows, 1.85s，没有再次 reset 或 submit；log step 238 却自述最后一局为合法踢球、球停在约 10 米处。视频 1.88 s 的白球仍在起踢点附近，该自述不能用于本局节点判定。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–1.60 s，机器人的双足接触草地支撑站立与射门准备，随后摆腿时失衡倒下。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 1.60–1.88 s，白球留在原处附近，与机器人足腿及倒下的身体局部重叠；无法确认具体足球或其他部位的碰撞接触，不将摆腿动作直接记为已发生击打。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "ball_x_m", + "unit": "m", + "threshold": 20.49, + "direction": "higher_better", + "value": null + }, + { + "name": "cross_y_m", + "unit": "m", + "threshold": [ + -3.66, + 3.66 + ], + "direction": "target", + "value": null + }, + { + "name": "cross_z_m", + "unit": "m", + "threshold": [ + 0, + 2.44 + ], + "direction": "target", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "free_kick_scored", + "t": 1.68, + "log_step": 236, + "where": "操作中", + "evidence_zh": "观察：视频 1.60–1.88 s，G1 正在摆腿射门，躯干迅速倾斜、骨盆下降，至视频 1.88 s 已翻倒，白球仍在起踢点附近；log step 236 的最后一次在线回合在仿真 1.91 s 返回 failed，此后未再执行新的回合。" + }, + "unmet": { + "free_kick_scored": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 1.68, + "log_step": 236, + "evidence_zh": "观察：视频 1.60 s 机器人开始明显倾斜；视频 1.68–1.80 s 倾斜持续加剧，摆出的腿抬高而躯干和骨盆下落；视频 1.84–1.88 s 机器人倒下，未恢复站立，球没有离开起踢点附近。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "视频", + "evidence_zh": "推断：视频 1.60–1.88 s 显示失稳发生在射门摆腿过程中，球未被送出；log step 141 的驱动脚本按预设关节指令分阶段提交 lowcmd，log step 236 又采用直立姿态和中等摆腿参数，服务执行中提前返回 failed。结合这些证据，本局射门动作未维持身体支撑，归入控制；现有证据不足以区分接触布局、轨迹与跟踪控制等子类。" + }, + { + "cat": "交付", + "item": "交付操作出错", + "source_zh": "日志", + "evidence_zh": "推断：log step 236 最后一次实际 reset/submit 的是直立姿态尝试，服务返回 episode 23、191 个执行行、failed，评分器 n_actions=191 且 graded_by_live=1；log step 237 明确想把最终方案恢复为蹲姿方案，却只改脚本并运行 --dry，没有再次在线执行。因此修改后的方案没有成为受评分回合，留下的仍是视频所示倒下的最后一次尝试。" + } + ], + "gap_zh": "没有状态日志；现有在线回合结果仅给出 failed，未报告具体违规项、合法脚触球阶段或碰撞对。视频末段足腿与白球局部重叠，不能确定是否存在短暂接触及其合法性，也不能确认立即判负究竟由踢前倒地还是其他触球规则触发；因此不另加接触类现象或具体控制子类。run.json 的评分字段没有报告 ball_x_m、cross_y_m、cross_z_m，三项原生指标均留空。log step 238 关于球停在约 10 米处的自述与视频不符，以视频及最后实际执行记录为准。" + }, + "summary_zh": "观察：本局只完成了射门准备和摆腿，视频 1.60–1.88 s 机器人失衡倒下，白球仍在起踢点附近，任意球入门节点未达成，终态为 0/1。推断：射门的全身控制未维持支撑；log step 237 恢复脚本参数后仅运行 --dry，未替换 log step 236 已失败的最后在线回合。观察：缺少状态日志和具体违规返回，无法确定足球接触及精确判负机制，不能采用 log step 238 所称球滚至约 10 米处的结局。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频仅 1.92 s，与标注一致：1.60–1.88 s 摆腿失衡倒下，白球留在起踢点附近，节点未达成，断点 free_kick_scored/操作中，平衡现象与控制根因有帧证据支持；log step 236 的 failed 返回（191 行、1.91 s）与视频吻合，step 238 的自述被正确弃用。交付操作出错属推断，但已按推断标注并有 n_actions=191 支撑，不要求改动。", + "n_issues": 0, + "n_major": 0 + } + ], + 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"hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-free-kick-wall-i00-standard--vftxwqj/replay.mp4", + "duration_s": 12.44, + "fps": 25.0, + "frames": 311, + "sha256": "3aec0d726f93e4d298a202191dc09fb9d20f448f9afb33830de1dd723b60cd35" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "free_kick_scored": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.12, + "log_step": 72, + "text_zh": "观察：视频 0.96–1.12 s 中机器人以左脚支撑、右脚向前摆动；视频 1.12 s 右脚抵达白球，视频 1.16–1.60 s 球已离开原位并向人墙飞行，机器人随后恢复双足站立。" + }, + { + "t": 2.8, + "log_step": null, + "text_zh": "观察：视频 2.48–2.80 s 白球接近橙色人墙在画面左侧的端部，视频 2.80–3.28 s 球沿人墙前侧下落并离墙回弹；视频 4–10 s 球向机器人方向返回，未进入远处白色球门。" + }, + { + "t": 12.4, + "log_step": 76, + "text_zh": "观察：视频 11.40–12.40 s 球在机器人附近的草地上基本静止，仍远离球门；log step 70 重置得到 episode=6，此后的 log step 76 服务终局记录同为 episode=6、control_steps=1242、sim_time_s=12.42、stages_reached=1/2，裁判结果为“the ball came to rest without a goal”，与本次视频的回弹停球一致。前五个回合的射门不计入本节点。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "观察：视频 1.12–1.16 s，机器人右脚向前击打白色足球并使球飞离；候选名称：击打。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.96–1.16 s，机器人左脚接触草地，支撑躯干和右腿射门；踢球后机器人恢复双足支撑。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "ball_x_m", + "unit": "m", + "threshold": 20.49, + "direction": "higher_better", + "value": null + }, + { + "name": "cross_y_m", + "unit": "m", + "threshold": [ + -3.66, + 3.66 + ], + "direction": "target", + "value": null + }, + { + "name": "cross_z_m", + "unit": "m", + "threshold": [ + 0, + 2.44 + ], + "direction": "target", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "free_kick_scored", + "t": 2.8, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 1.12–1.16 s 机器人已经踢出球，视频约 2.80 s 球撞到橙色人墙在画面左侧的端部，随后向来球方向回弹；视频 11.40–12.40 s 球停在机器人附近，未完成任意球入门。log step 76 的第 6 回合裁判记录为球未进门便停下、仅到达 1/2 原生阶段。" + }, + "unmet": { + "free_kick_scored": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 2.8, + "log_step": null, + "evidence_zh": "观察：视频 2.48–2.80 s 球向橙色人墙端部靠近，在视频约 2.80 s 出现在该端部板面处；视频 2.84–3.28 s 球转向画面左下方离开人墙，视频 4–10 s 持续向机器人返回。人墙接触阻断了这次射门，没有后续入门。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 70, + "evidence_zh": "推断：agent 在 log step 67 明确要保留前次射门时序并调整横向击球位置；log step 70 将横向目标从 -0.155 m 改为 -0.137 m，并以 pre_roll=-0.138 执行最后回合，log step 71–72 记录了相应摆腿命令与关节反馈。结合视频 1.12–1.16 s 确有脚踢、视频约 2.80 s 球撞墙回弹，说明本次射门控制未产生预期绕墙入门的球路；证据支持控制层面的方向控制失败，尚不能区分接触几何、轨迹跟踪或具体参数的贡献。", + "source_zh": "日志" + } + ], + "gap_zh": "没有状态日志，也没有本回合球足接触点、接触力及出球速度的原生记录，无法确定方向误差的具体控制子类；评分器未报告 DAG 所列 ball_x_m、cross_y_m、cross_z_m，三个原生指标均记 null。固定远景中的人墙局部遮挡球，碰撞时间仅定位到视频约 2.8 s；连续前后帧和终局服务记录足以判定未进门。" + }, + "summary_zh": "评分对应最后一次重置后的第 6 回合：机器人在视频约 1.12 s 用右脚踢出足球，但“任意球入门”始终未达，节点终值为 0/1。球在视频约 2.8 s 撞上橙色人墙端部后回弹，最终停在机器人附近，log step 76 的裁判终局记录与此一致；根因归为射门控制，缺少接触与球速记录，无法细分具体控制机制。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点 free_kick_scored 未达成、断点、时钟、接触（脚击打+支撑脚）与被挡/碰撞现象均与视频和 log 终局记录（episode 6，球停下未进门，1/2 阶段）一致；球太小，撞墙细节只能大致确认，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:38:24Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-free-kick-wall-i00-standard--vftxwqj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-free-kick-wall-i00-standard--vftxwqj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0fe76f65e4c6c0568a6fdff394c5f417b4b8290b0979be50be6fd101f099bf68", + "video_sha256": "3aec0d726f93e4d298a202191dc09fb9d20f448f9afb33830de1dd723b60cd35", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-standard--wfuqpbk.json b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-standard--wfuqpbk.json new file mode 100644 index 0000000000000000000000000000000000000000..e8e6c2bef56ecb0c9f687e226809eac5f52df3d4 --- /dev/null +++ b/phase2/embodied-olympics-fun/free_kick_wall/trajectories/embodied-olympics-fun-free-kick-wall-i00-standard--wfuqpbk.json @@ -0,0 +1,210 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-free-kick-wall-i00-standard--wfuqpbk", + "taskKey": "embodied-olympics-fun/free_kick_wall", + "dag_sha256": "6749223ae6b8a425b1f7d86513bee960c64b42ed756a390e3a358baebdc119ab", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 187, + "sim_steps": 844, + "calls": 114, + "rows": 437, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 918.9, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 3, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.306, + "peak_processes": 9, + "peak_disk_gb": 0.871, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-free-kick-wall-i00-standard--wfuqpbk/replay.mp4", + "duration_s": 1.88, + "fps": 25.0, + "frames": 47, + "sha256": "8ff5edf00be78e0c151ca3c250e52e14ed9d84285a5b04e136b392d13072dcda" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "free_kick_scored": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": 75, + "text_zh": "观察：log step 75 调用了最后一次 reset，log step 76–79 随后执行转身、保持和伸右膝踢球；视频 0.00 s 从球后站立姿态开始，足球在机器人前方。此前各回合仅作会话背景，不计入本次进度。" + }, + { + "t": 1.84, + "log_step": null, + "text_zh": "观察：逐帧检查视频 0.00–1.84 s，白球始终留在起点附近、人墙前方；视频 1.56–1.84 s 机器人明显前倾、身体下坠，一条腿向后拖开，球没有向人墙或球门飞出，任意球入门未发生。" + }, + { + "t": null, + "log_step": 81, + "text_zh": "观察：评分器 reward.success=0、live_success=0、graded_by_live=1；agent 在 log step 80–81 自述最后回合以“fell”结束、裁判阶段为 0/2。后者是 agent 对结果的转述，相关调用的 out.text 为空；节点未完成由视频中球始终未离开起点附近直接支持。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–1.52 s 机器人双足交替或共同接触草地，支撑转身及踢球准备；视频 1.56–1.84 s 支撑失稳，一条腿后拖。足球一直停在前方，未见实际脚球击打，不追加计划中的击打接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "ball_x_m", + "value": null, + "unit": "m", + "threshold": 20.49, + "direction": "higher_better" + }, + { + "name": "cross_y_m", + "value": null, + "unit": "m", + "threshold": [ + -3.66, + 3.66 + ], + "direction": "target" + }, + { + "name": "cross_z_m", + "value": null, + "unit": "m", + "threshold": [ + 0, + 2.44 + ], + "direction": "target" + } + ], + "failure": { + "breakpoint": { + "ref": "free_kick_scored", + "t": 1.6, + "log_step": 79, + "where": "操作中", + "evidence_zh": "观察：log step 79 的脚本执行右膝伸展踢球；视频 1.56–1.84 s 机器人从直立转为明显前倾下坠、腿向后拖，足球仍在起点附近。任意球动作已经开始，但机器人在把球踢出前失衡，本节点此后未完成。" + }, + "unmet": { + "free_kick_scored": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 1.6, + "log_step": 79, + "evidence_zh": "观察：视频 1.52 s 机器人仍近乎直立；视频 1.56–1.84 s 躯干持续前倾、骨盆下降、腿部支撑展开，未恢复直立，白球保持原位。agent 在 log step 80–81 将最后回合结果转述为踢前“fell”，与所见失衡过程一致。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 79, + "evidence_zh": "推断：log step 79 的实际调用脚本切换到 lowcmd，逐次减小右膝目标角，并通过骨盆 IMU 调整支撑侧髋部与腰部；视频 1.56–1.84 s 对应踢球尝试中机器人持续失衡，球尚未踢出。该控制方案未能在伸膝过程中维持身体支撑；现有证据不足以进一步归到轨迹、反馈或参数中的某一子类。", + "source_zh": "日志、视频" + } + ], + "gap_zh": "没有状态日志或足球接触对，固定远景不能排除细微擦碰，也不能确定终止物理步的触地部位；视频末帧为视频 1.84 s，显示失衡下坠，未显示完整倒地后的姿态。log step 79–80 的工具返回文本为空，“fell”和 0/2 仅见于 agent 在 log step 80–81 的转述；评分器未报告 ball_x_m、cross_y_m、cross_z_m，三项原生指标保留 null，控制根因不细分。" + }, + "summary_zh": "本次评分为最后一次重置后的回合：机器人转身并尝试伸右膝踢球，但视频 0.00–1.84 s 足球始终留在起点附近，任意球入门未完成，最终 0/1。视频约 1.60 s 机器人失去平衡并持续前倾下坠，根因归于踢球过程中的控制失稳；缺少状态日志和终局服务原始输出，无法确认细微脚球接触、精确触地部位及控制子类。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频一致：视频 0–1.84 s 足球始终留在起点，机器人约 1.56 s 起前倾失衡，节点未达成；断点、平衡现象和停在“控制”的根因均有证据，时钟均为视频或 log step。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:35:50Z", + "review_prompt": "prompts/04_trajectory_review.md", + 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a/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-privileged--6psocwc.json b/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-privileged--6psocwc.json new file mode 100644 index 0000000000000000000000000000000000000000..566a8a602c8faaf90c18c998009a5798d5eb9094 --- /dev/null +++ b/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-privileged--6psocwc.json @@ -0,0 +1,188 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-high-jump-i00-privileged--6psocwc", + "taskKey": "embodied-olympics-fun/high_jump", + "dag_sha256": "c300ffe03322943c62dc1bb110296f40a1e3ae3d2ab8a7501f467100e7abad26", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 1, + "sim_steps": 1, + "horizon": 6000, + "episode_over": 0, + "progress": 0.0, + "stages_reached": 0, + "stages_total": 3, + "fell": 0, + "replay_s": 1.85, + "bad_trajectory": 0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 147, + "agent_resets": 1347, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.572, + "peak_processes": 11, + "peak_disk_gb": 0.279, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 1, + "session_log_from_monitor": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-high-jump-i00-privileged--6psocwc/replay.mp4", + "duration_s": 0.04, + "fps": 25.0, + "frames": 1, + "sha256": "66f440a1ee7a787f7f7640988e3e3242c776c61c1578bd5aff3ad2333e0c1a8e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "high_jump_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 28, + "text_zh": "观察：已检查受评视频全部内容（仅视频 0.00 s 一帧，总长0.04秒）；机器人双脚位于红色跑道起始区，远离横杆与蓝垫，未呈现助跑、起跳、过杆或落地。log step 28 中 agent 的交付脚本只调用一次 hold、一次 step 后保存轨迹。" + }, + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：评分器字段 n_actions=1、sim_steps=1、stages_reached=0/3、episode_over=0、replay_success=0，与视频 0.00 s 的初始站姿相符；本节点未完成。成功参考视频 15.4–18.6 s 可见机器人在杆前起跳并越杆落到垫上，该参考仅用于对照可见判据。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "rise_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "bar_impulse_Ns", + "unit": "N s", + "threshold": 2.0, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "high_jump_landed", + "t": 0.0, + "log_step": 28, + "where": "首步前", + "evidence_zh": "观察：视频 0.00 s 为受评视频唯一一帧，机器人仍在红色跑道起始位置；log step 28 的已保存交付只执行一次保持命令。评分器记录 n_actions=1、sim_steps=1，跳高动作尚未启动。" + }, + "unmet": { + "high_jump_landed": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": 28, + "evidence_zh": "观察：视频 0.00 s 中机器人保持初始站姿，未开始跳高；log step 28 保存的是单次 hold 的占位轨迹，后续会话中的试跳不在本次受评视频内。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：agent 尚未调出可交付的跳高控制动作，最终受评内容仍为 log step 28 保存的保持占位。会话试验的独立证据是 log step 190 多组动作均报告 success=False、the bar pushed the robot；log step 207 改变右髋屈曲时机后仍反复失败，并输出右髋连杆与横杆的接触；log step 223 的两次试验仍以同一原因失败。上述仅用于解释控制开发未成功，不作为受评轨迹发生碰杆的证据；不足以区分控制子类。" + } + ], + "gap_zh": "受评视频只有一帧且没有状态日志，无法测量足底力、横杆冲量等细节；原生指标未由评分器报告，均保留 null。会话日志的部分试验输出已截断，根因仅从反复失败的控制试验作概括推断，不能细分为接触设计、轨迹、反馈或参数问题；不将这些会话动作、接触或失败时刻映射到受评视频。" + }, + "summary_zh": "受评轨迹只包含一次保持命令，视频 0.00 s 的唯一画面中机器人仍站在红色跑道起始区，“跳过杆并落地”未启动，最终0/1。断点为首步前，现象为没尝试；会话中反复调试跳跃仍出现碰杆判负，推断控制开发未成功，交付保留占位动作。没有状态日志且受评视频仅一帧，控制根因只能概括推断，三个原生指标均未报告。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "受评视频仅 1 帧（0.00 s），机器人仍在起跑区；评分器 n_actions=1、sim_steps=1、stages_reached=0/3，log step 28 的交付脚本只执行一次 hold。节点未达、断点首步前、现象没尝试、根因停在“控制”（依据会话 log 190/207/223，标为推断并声明不映射到受评视频）均有证据支持，符合 FAIL-22。无需修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:30:42Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-high-jump-i00-privileged--6psocwc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-high-jump-i00-privileged--6psocwc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2a10ecd79f4815016654470c1d68cdb17044ce9e6e0fe8c874f15a89d103f6ec", + "video_sha256": "66f440a1ee7a787f7f7640988e3e3242c776c61c1578bd5aff3ad2333e0c1a8e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-privileged--faqssvb.json b/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-privileged--faqssvb.json new file mode 100644 index 0000000000000000000000000000000000000000..a1ffa8e5e0f9231657f33faf2fc05f221da9bf48 --- /dev/null +++ b/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-privileged--faqssvb.json @@ -0,0 +1,203 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-high-jump-i00-privileged--faqssvb", + "taskKey": "embodied-olympics-fun/high_jump", + "dag_sha256": "c300ffe03322943c62dc1bb110296f40a1e3ae3d2ab8a7501f467100e7abad26", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 912, + "sim_steps": 912, + "horizon": 6000, + "episode_over": 1, + "progress": 0.0, + "stages_reached": 0, + "stages_total": 3, + "fell": 0, + "replay_s": 5.86, + "bad_trajectory": 0, + "metric_air_s": 0.083, + "metric_rise_m": 0.004, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 11, + "agent_resets": 0, + "agent_replays": 8, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 3.457, + "peak_processes": 30, + "peak_disk_gb": 1.003, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-high-jump-i00-privileged--faqssvb/replay.mp4", + "duration_s": 9.16, + "fps": 25.0, + "frames": 229, + "sha256": "6ed9a68b5fd3f1a7b39b76bb82c6b3376dcbb37b4f9c2a879097e5c713e7c1b9" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "high_jump_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–8.76 s，机器人举起双臂，双脚交替支撑沿红色跑道走到横杆近侧；未见全身越杆。" + }, + { + "t": 9.12, + "log_step": 377, + "text_zh": "观察：视频 8.80–9.12 s 逐帧中，机器人在杆前屈腿并短暂离地，双腿仍低于横杆，结束时身体仍在蓝垫前沿近侧，没有出现全身越杆后落到另一侧的过程。log step 377 对最终交付的912行轨迹重放，裁判返回 success=false、stages=[]，失败原因为未净空便触及杆后地面或垫；log step 395 两次重放终态哈希相同。" + }, + { + "t": 9.12, + "log_step": null, + "text_zh": "推断：本次视频中未出现完整净空和杆后落地，结合最终交付的裁判反馈，跳过杆并落地节点全程未达到。对照参考成功视频 16.2–16.8 s，可见机器人腾起、翻越横杆并落在蓝垫上；本次视频缺少这一可见过程。参考视频仅用于识别完成外观。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–8.76 s，机器人双脚交替接触红色跑道承重前进；视频 8.80–9.12 s，脚部在杆前支撑屈腿、蹬地，随后腿部向垫前沿运动。log step 377 的最终轨迹裁判确认未净空便接触杆后地面或垫；单一远景无法精确辨认终止接触的具体脚部碰撞面。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": 0.083 + }, + { + "name": "rise_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": 0.004 + }, + { + "name": "bar_impulse_Ns", + "unit": "N s", + "threshold": 2.0, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "high_jump_landed", + "t": 9.08, + "log_step": 377, + "where": "操作中", + "evidence_zh": "观察：视频 8.80–9.12 s，机器人在横杆近侧屈腿、短暂离地，腿脚未抬至横杆上方，身体没有全身越过横杆；视频约 9.08–9.12 s 动作在垫前沿结束。log step 377 最终交付重放的裁判明确以未清杆便触及杆后地面或垫判负，log step 403 最终再生成仍为同一912行轨迹及同一失败。" + }, + "unmet": { + "high_jump_landed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 9.08, + "log_step": 377, + "evidence_zh": "观察：视频 8.80–9.12 s，机器人仅有小幅屈伸和短暂离地，双腿未越至横杆上方，也没有全身落到杆后；结束前未见翻倒。最终交付裁判输出（log step 377）记录腾空0.083秒、骨盆离地后上升0.004米，并因未净空便触及杆后地面或垫终止；评分器 reward.fell=0。推断：此次跳跃的抬升和净空不足，属于未完成所需跳跃的步态问题。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 368, + "source_zh": "日志 / 视频 / 评分器字段", + "evidence_zh": "观察：log step 366 的S方案使用腿关节关键帧及髋、膝、踝前馈力矩控制屈腿、蹬伸和收腿；log step 368 保存该S方案，log step 377 恢复它并生成最终912行交付。其裁判重放记录腾空0.083秒、离地后上升0.004米（要求至少0.08米），与视频 8.80–9.12 s 未见足够抬升及全身净空一致。推断：交付中的蹬伸、收腿控制轨迹未产生足够的腾空高度和过杆运动，导致身体尚未净空就接触垫或地面；证据支持控制层失败，不能据此确定为某个力矩参数、反馈环节或接触布局的单一缺陷。" + } + ], + "gap_zh": "没有状态日志；远景中脚、垫前沿和横杆部分重叠，无法独立精确确认最终接触的身体碰撞面、起跳脚载荷或横杆冲量。终止接触由已确定为最终交付的裁判重放（log step 377、395）确认；控制根因保留在大类，不将agent在log step 385、406自述的踝力矩瓶颈直接视为已证实根因。原生指标bar_impulse_Ns未报告，置null。" + }, + "summary_zh": "机器人沿跑道走到杆前并尝试屈腿蹬伸、短暂腾空，但未完成唯一的跳过杆并落地节点，最终为0/1。视频 8.80–9.12 s 未见双腿和全身越杆，最终交付的裁判重放（log step 377、395）确认未净空便触及杆后地面或垫；失败现象为步态，根因为未能产生足够抬升和净空的控制轨迹。无状态日志，具体接触面及控制子类无法进一步确认。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "单节点未达成、最终0/1与裁判重放（log step 377/395，stages=[]、air 0.083 s、rise 0.004 m）及视频末段所见一致；断点、步态现象和停在“控制”大类的根因均有证据支持，时钟均标明视频时间。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:30:36Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-high-jump-i00-privileged--faqssvb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-high-jump-i00-privileged--faqssvb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3e3ba2060ff4c33a9f5206a2d202ea467a1d673d4dc6ddfc2647ec00e3c4b7d5", + "video_sha256": "6ed9a68b5fd3f1a7b39b76bb82c6b3376dcbb37b4f9c2a879097e5c713e7c1b9", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-privileged--k689jgz.json b/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-privileged--k689jgz.json new file mode 100644 index 0000000000000000000000000000000000000000..a143b0ee404bff7781201a90910fc0ab1ab769f2 --- /dev/null +++ b/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-privileged--k689jgz.json @@ -0,0 +1,205 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-high-jump-i00-privileged--k689jgz", + "taskKey": "embodied-olympics-fun/high_jump", + "dag_sha256": "c300ffe03322943c62dc1bb110296f40a1e3ae3d2ab8a7501f467100e7abad26", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 3355, + "sim_steps": 3355, + "horizon": 6000, + "episode_over": 0, + "progress": 0.0, + "stages_reached": 0, + "stages_total": 3, + "fell": 0, + "replay_s": 17.86, + "bad_trajectory": 0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 500, + "agent_resets": 463, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 8.659, + "peak_processes": 43, + "peak_disk_gb": 0.26, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 1, + "session_log_from_monitor": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-high-jump-i00-privileged--k689jgz/replay.mp4", + "duration_s": 33.56, + "fps": 25.0, + "frames": 839, + "sha256": "ac7d5a2e01e7ffdd161b32582326b3e91ac03f755cf48ba10ab0acb31de98e83" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "high_jump_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 19.0, + "log_step": null, + "text_zh": "观察：视频 0–19.0 s 的固定场地视角中，机器人先在红色跑道上调整姿态，再步行接近横杆，始终位于蓝垫前方；尚无全身越杆或杆后落地。" + }, + { + "t": 33.36, + "log_step": null, + "text_zh": "观察：视频 29.5–31.0 s 机器人举臂，视频 31.5–33.12 s 屈腿下蹲后蹬伸；逐帧检查视频 32.56–33.52 s，末段双脚离地，但双踝仍低于横杆，机器人未全身越过横杆，也未落到杆后。" + }, + { + "t": null, + "log_step": 193, + "text_zh": "观察：log step 193 对已保存交付文件的重放返回 success=False、failed=None、stages=[]、steps=3355；评分器也报告 n_actions=3355、stages_reached=0、episode_over=0，与本次录像尚未完成过杆落地相符。" + }, + { + "t": null, + "log_step": 190, + "text_zh": "观察：log steps 187、189–190 生成并保存由步行动作和跳跃调试动作拼接的交付文件；log step 194 明确称已保存的 3355 行轨迹尚未成功。后续直到 log step 447 是继续修改和测试跳跃脚本，未见再次保存交付文件，不能将这些测试计作本次节点进度。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 9.0–20.0 s 机器人双脚交替接触红色跑道向横杆行进，视频 31.5–33.3 s 脚部在跑道上支撑屈腿和蹬伸，随后离地；本次录像未显示脚、腿或躯干在横杆另一侧落地承重。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "rise_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "bar_impulse_Ns", + "unit": "N s", + "threshold": 2.0, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "high_jump_landed", + "t": 33.3, + "log_step": 193, + "where": "操作中", + "evidence_zh": "观察：视频 33.12–33.52 s 机器人在横杆前蹬伸离地，双踝尚低于横杆，动作记录即结束，没有完成全身过杆和杆后落地；log step 193 对交付文件的重放结果为 success=False、failed=None、stages=[]。断点锚定在视频约 33.3 s 的末次起跳动作。" + }, + "unmet": { + "high_jump_landed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 33.3, + "log_step": null, + "evidence_zh": "观察：视频 31.5–33.52 s 机器人下蹲、蹬伸并短暂离地，末帧双脚仍未抬过横杆，身体仍在杆前，交付动作没有完成越杆距离和后续落地；录像内未见摔倒。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log steps 178、181、183 的跳跃脚本通过预设关节目标、力矩和腾空检测切换动作；log step 184 的同版本调试中离地速度为竖直 0.89 m/s、沿跑道 -0.16 m/s，stages=[]，显示起跳控制尚未产生可用的过杆运动。log steps 187、189–190 将该版本动作写入交付，log step 193 重放仍无阶段进展；视频 33.12–33.52 s 也只形成未过杆的起跳，支持跳跃控制未解决，但不足以确定具体控制子类。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志，无法核实单脚起跳力窗口、精确腾空时长与上升量、横杆接触冲量或毫米级支座公差；评分器未报告三个原生指标的数值。交付录像结束于起跳后，不能判断若继续执行会怎样落地；log step 184 调试中的 LANDED 与碰杆失败并未在本次交付重放中复现，故不作为本次落地或碰杆证据。根因只能结合生成该交付的调试记录推断到控制大类，无法区分轨迹、反馈控制或参数问题。" + }, + "summary_zh": "本次交付完成了步行接近横杆、举臂和下蹲蹬伸，但录像末尾起跳后双踝仍未越杆，没有完成全身过杆和杆后落地，最终节点为 0/1。失败位于跳高步骤的操作中，现象为步态未完成过杆，生成该交付的调试记录支持跳跃控制尚未解决。录像在起跳后结束且没有状态日志，无法确定后续落地情况和精确接触、力学指标，后续会话测试不计入本次进度。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "高跳节点 high_jump_landed 未达（0/1）、断点在末次起跳、现象步态（含跳跃，未摔倒）与根因控制（不细分子类）均与视频末段和 log 193 重放（success=False, stages=[], 3355 步）一致；时间均在视频内，未把 agent 时间换算成视频时间。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:32:02Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": 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0000000000000000000000000000000000000000..8d8ecd923af3d4b65bbd3b9ba4b45175fa6450e6 --- /dev/null +++ b/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-privileged--o4tm5te.json @@ -0,0 +1,183 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-high-jump-i00-privileged--o4tm5te", + "taskKey": "embodied-olympics-fun/high_jump", + "dag_sha256": "c300ffe03322943c62dc1bb110296f40a1e3ae3d2ab8a7501f467100e7abad26", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 1870, + "sim_steps": 1870, + "horizon": 6000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 3, + "stages_total": 3, + "fell": 0, + "replay_s": 10.09, + "bad_trajectory": 0, + "metric_air_s": 0.473, + "metric_rise_m": 0.275, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 77, + "agent_resets": 12, + "agent_replays": 3, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.763, + "peak_processes": 33, + "peak_disk_gb": 0.249, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-high-jump-i00-privileged--o4tm5te/replay.mp4", + "duration_s": 18.72, + "fps": 25.0, + "frames": 468, + "sha256": "7b16e7330444d1d4db1c3adfeac4c8041447661680c9587371af15e746b52d95" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "high_jump_landed": { + "method": "visual", + "intervals": [ + [ + 18.68, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 16.32, + "log_step": null, + "text_zh": "观察：视频 16.08–16.32 s，机器人在横杆前抬起一条腿，另一只脚在红色跑道上支撑蹬地；视频 16.36–16.64 s，身体后仰、双腿抬起，从两立柱之间越过红白横杆。" + }, + { + "t": 16.72, + "log_step": null, + "text_zh": "观察：视频 16.68–16.80 s，机器人背部和躯干落到横杆后方的蓝垫上，腿仍向上；视频 17.12–18.68 s，机器人留在垫上，红白横杆始终横置于两支架之间，没有可见掉落。" + }, + { + "t": 18.68, + "log_step": 104, + "text_zh": "观察：log step 104 对最终保存轨迹的重放结果为 success=true、failed=null，裁判阶段为 take-off、clearance、bar stays，执行 1870 行，仿真终止时间 18.7 s；log step 105 的第二次重放同样成功且终态哈希一致。inputs/run.json 的评分器字段 success=1、replay_success=1、deterministic=1、stages_reached=3。" + }, + { + "t": 18.68, + "log_step": null, + "text_zh": "推断：视频约 16.7 s 的落垫和视频 18.68 s 最后一帧横杆保留，与评分器三阶段成功一致，因此把包含落地后至少 2.0 秒延迟验收的完整事件记为约视频 18.7 s 达成，取末帧 18.68 s 为导航锚点；时间精度约 0.1 秒。单脚起跳的力阈值、完整几何净空及横杆微小位移和速度由成功裁判结果确认，画面不足以独立精测。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚在红色跑道上交替支撑接近横杆，视频 16.08–16.32 s 一脚抬起、另一脚蹬地；视频约 16.7 s 背部和躯干落在蓝色垫上，由垫承托。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "air_s", + "value": 0.473, + "unit": "s", + "threshold": 0.05, + "direction": "higher_better" + }, + { + "name": "rise_m", + "value": 0.275, + "unit": "m", + "threshold": 0.08, + "direction": "higher_better" + }, + { + "name": "bar_impulse_Ns", + "value": null, + "unit": "N s", + "threshold": 2.0, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "机器人在视频约 16.3–16.7 s 单脚蹬地、背越横杆并落到蓝垫上，横杆保留至视频末尾，完整跳跃节点在视频约 18.7 s 延迟验收后达成，最终完成 1/1。最终文件两次重放均成功且终态哈希一致，评分器报告腾空 0.473 秒、骨盆上升 0.275 米，无失败断点。没有状态日志，起跳脚力、精细净空和横杆毫米级静置条件依赖裁判成功结果，横杆冲量原生指标未报告，保留为 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "成功运行，单节点 high_jump_landed 达成（约视频 18.68 s，由评分器 success=1、stages 3/3 界定），帧显示 16.0 s 助跑、16.5 s 越杆、16.9 s 落垫、18.6 s 横杆仍在；接触、failure=null、时钟均无误。", + 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+ "run_json_sha256": "7698c2137a12f575f0f29df4e075e09ead649aff59758090265c5d37aeaf68da", + "video_sha256": "7b16e7330444d1d4db1c3adfeac4c8041447661680c9587371af15e746b52d95", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-privileged--wtvnnjb.json b/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-privileged--wtvnnjb.json new file mode 100644 index 0000000000000000000000000000000000000000..d482926a7ed7f164466f32706b178e9df6bfbde9 --- /dev/null +++ b/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-privileged--wtvnnjb.json @@ -0,0 +1,207 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-high-jump-i00-privileged--wtvnnjb", + "taskKey": "embodied-olympics-fun/high_jump", + "dag_sha256": 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}, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-high-jump-i00-privileged--wtvnnjb/replay.mp4", + "duration_s": 17.64, + "fps": 25.0, + "frames": 441, + "sha256": "39c3e1a7e73371eead8bcafe90acd08ed32bb34de29937bd519b9b6cd681141d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "high_jump_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：本次视频起始机器人站在红色跑道上；视频全程粗看及视频16.60—17.60 s逐帧检查显示，机器人走到蓝垫和横杆前，随后抬腿、蹬地起跳。" + }, + { + "t": 17.6, + "log_step": null, + "text_zh": "观察：视频17.52—17.60 s机器人身体上升，腿部仍在横杆高度以下并紧邻蓝垫前缘；截至最后一帧视频17.60 s，没有全身越过横杆或落到杆后。" + }, + { + "t": 17.6, + "log_step": 125, + "text_zh": "观察：log step 122生成并保存1760行最终轨迹，log step 125对该文件的独立重放报告success=false、stages=[]，原因为“touched the ground or the mat beyond the bar's plane before clearing the bar”；评分器字段deterministic=1、stages_reached=0，与本次视频末段未净空的姿态一致。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚在红色跑道上交替承重行走，视频17.24—17.52 s抬起一腿并由另一脚蹬地；未观察到成功过杆后的落地支撑。" + }, + { + "who": "腿/躯干", + "how": "压/擦", + "note_zh": "推断：视频17.56—17.60 s腿部贴近蓝垫前缘，结合log step 125最终文件重放确认的未净空先触地或垫，判为腿部擦碰蓝垫前缘；具体为右小腿的说法来自log step 128的agent自述，画面不能独立分辨碰撞几何。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "air_s", + "value": 0.083, + "unit": "s", + "threshold": 0.05, + "direction": "higher_better" + }, + { + "name": "rise_m", + "value": 0.181, + "unit": "m", + "threshold": 0.08, + "direction": "higher_better" + }, + { + "name": "bar_impulse_Ns", + "value": null, + "unit": "N s", + "threshold": 2.0, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "high_jump_landed", + "t": 17.6, + "log_step": 125, + "where": "操作中", + "evidence_zh": "观察：视频17.56—17.60 s机器人正在杆前起跳，腿尚低于横杆，全身未越过，录像随即结束；log step 125对log step 122保存的最终文件重放，裁判明确以未净空便触及杆后地面或垫判负，未完成任何阶段。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 17.6, + "log_step": 125, + "evidence_zh": "推断：视频17.56—17.60 s机器人腿部在蓝垫前缘、横杆下方，尚未形成全身净空；log step 125最终文件重放的裁判结果确认此时已触及杆后地面或垫，结合画面定位为腿部擦碰蓝垫前缘。该接触结束了跳跃尝试，画面未显示摔倒。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 116的生成脚本以闭环步行接预生成的开环关节目标、增益和力矩序列完成单脚起跳；log step 122保存的最终动作及log step 125独立重放均因未净空先触地或垫失败，视频17.56—17.60 s也显示腿部未抬过障碍高度。控制生成的起跳和收腿运动没有实现所需避障净空；现有证据不足以进一步归入轨迹或逆解、反馈控制或具体参数调试。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志，固定远景视频无法独立分辨最终接触的具体机器人碰撞几何、力和微小横杆运动；右小腿触垫细节在log step 128仅为agent自述，log step 97的右胫骨接触诊断属于较早会话候选，未当作本次状态日志。未报告bar_impulse_Ns；缺少最终轨迹的目标与实际关节跟踪数据，控制根因不细分。", + "unmet": { + "high_jump_landed": false + } + }, + "summary_zh": "机器人完成助跑并在杆前开始起跳，但视频17.60 s仍未全身越过横杆，最终节点0/1。最终文件重放在log step 125明确报告未净空便触及杆后地面或垫，结合末帧判断为腿部擦碰蓝垫前缘；起跳和收腿控制未实现净空。没有状态日志，具体碰撞几何和控制子类不能独立核验。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签与视频、log一致：视频末帧(17.6 s)机器人仍在杆前起跳、未过杆；log step 122/125 的最终文件重放报告 success=false、stages=[]，视频时长与 time_s=17.6 吻合。节点未达成、断点和时间均无可证伪之处；机器人在画面中过小，碰撞几何无法独立核验，文件已如实在 gap_zh 说明。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:31:34Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-high-jump-i00-privileged--wtvnnjb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-high-jump-i00-privileged--wtvnnjb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7b0dd7fc3c01fea07b7bd83c4a9b820be9a995bff423cb1a3ea1d8dee586d5c3", + "video_sha256": "39c3e1a7e73371eead8bcafe90acd08ed32bb34de29937bd519b9b6cd681141d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-privileged--xkhqcjd.json b/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-privileged--xkhqcjd.json new file mode 100644 index 0000000000000000000000000000000000000000..90b81c88208abc7e5374a288964ea48d220a1577 --- /dev/null +++ b/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-privileged--xkhqcjd.json @@ -0,0 +1,202 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-high-jump-i00-privileged--xkhqcjd", + "taskKey": "embodied-olympics-fun/high_jump", + "dag_sha256": "c300ffe03322943c62dc1bb110296f40a1e3ae3d2ab8a7501f467100e7abad26", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 1228, + "sim_steps": 1228, + "horizon": 6000, + "episode_over": 0, + "progress": 0.0, + "stages_reached": 0, + "stages_total": 3, + "fell": 0, + "replay_s": 9.38, + "bad_trajectory": 0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 1462, + "agent_resets": 41, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 7.347, + "peak_processes": 12, + "peak_disk_gb": 0.82, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-high-jump-i00-privileged--xkhqcjd/replay.mp4", + "duration_s": 12.32, + "fps": 25.0, + "frames": 308, + "sha256": "9e8201ae6a9d4f33b6ac4c9d8703aa7ddda1a4041c22bc62a36a2f202e339668" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "high_jump_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–11.9 s，机器人在红色跑道上交替落脚向横杆行走，未越过横杆。" + }, + { + "t": 12.12, + "log_step": null, + "text_zh": "观察：逐帧检查视频 10.8–12.28 s，机器人始终在横杆近侧；视频约 12.1 s 开始屈腿、身体略降低，至视频 12.28 s 仍未出现骨盆及双踝高于横杆并穿过的腾空动作，也未落到杆后；红白横杆仍横置两立柱之间。" + }, + { + "t": null, + "log_step": 683, + "text_zh": "观察：log step 683 读取最终交付文件，动作数组为 1228×141；inputs/run.json 的评分字段同为 n_actions=1228、stages_reached=0、episode_over=0、fell=0。该交付在未完成跳高且裁判尚未终止尝试时结束。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–12.28 s，机器人双脚依次在红色跑道上落脚承重，末段在杆前屈腿；未观察到杆后落垫支撑。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "rise_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "bar_impulse_Ns", + "unit": "N s", + "threshold": 2.0, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "high_jump_landed", + "t": 12.1, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约 12.1 s，机器人在横杆前屈腿，但至视频 12.28 s 交付结束仍在起跳侧，未完成腾空过杆及落地；横杆未掉落，机器人未摔倒。评分字段 stages_reached=0、episode_over=0 与画面一致。" + }, + "unmet": { + "high_jump_landed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 12.1, + "log_step": null, + "evidence_zh": "观察：视频 0.0–12.28 s，机器人完成接近横杆的行走，末段仅在杆前屈腿，脚和身体均未越过横杆；未见摔倒。跳跃动作未达到过杆所需的腾空与净空。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 678, + "source_zh": "日志", + "evidence_zh": "推断：log step 678 的交付生成脚本先用步行控制接近，再按足部接触触发支撑腿屈伸、力矩脉冲和收腿；同系列会话测试在 log step 648 记录一次短飞行仅上升 0.07 米且未获起跳阶段。视频 12.1–12.28 s 的交付末段也未形成过杆动作，支持起跳动作控制未解决；测试仅作根因佐证，不作为本次交付的飞行高度或碰杆事实。现有证据不足以细分具体控制子类。" + } + ], + "gap_zh": "没有状态日志，无法量化本次交付的足部受力、短暂离地、骨盆升高和横杆冲量；评分字段也未报告 air_s、rise_m、bar_impulse_Ns，原生指标均留空。log step 678 的备注称横杆被推离支座，但视频至 12.28 s 未显示此事，评分亦为 episode_over=0，故不据此标碰杆失败；日志其他测试的腾空、接触及失败不计入本次节点进度。起跳控制归因为综合推断，具体参数或衔接缺陷未获直接验证。" + }, + "summary_zh": "机器人沿红色跑道走到横杆前，末段屈腿但交付在腾空过杆前结束，“跳过杆并落地”未达成，最终完成 0/1 节点。断点在该跳跃步骤操作中，现象为步态未完成过杆，日志中的起跳控制测试支持宽泛的控制根因。没有状态日志或本次飞行指标；其他会话测试及备注中的碰杆失败不代表这段评分录像。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点未达成（0/1）、final=false、断点 12.1 s 操作中与视频和评分字段（stages_reached=0、episode_over=0、fell=0）一致；未发现需要修改的内容，控制根因已标明为综合推断，并把日志备注中的“碰杆”排除在事实之外。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:31:25Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": 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0000000000000000000000000000000000000000..38f8ee1db34cdbc85c96dc0dae2837f3628359d8 --- /dev/null +++ b/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-standard--99ih4hk.json @@ -0,0 +1,232 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-high-jump-i00-standard--99ih4hk", + "taskKey": "embodied-olympics-fun/high_jump", + "dag_sha256": "c300ffe03322943c62dc1bb110296f40a1e3ae3d2ab8a7501f467100e7abad26", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 2239, + "sim_steps": 14593, + "calls": 983, + "rows": 14593, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 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"text_zh": "观察：视频 0.0–21.4 s，机器人沿红色跑道走向横杆，随后在蓝垫前停下；未出现腾空过杆或杆后落地。log step 308 的服务输出确认最后一次重置后 control_steps=0、done=False，故本视频对应最后一次实时尝试，不采用之前的测试结果。" + }, + { + "t": 22.2, + "log_step": 310, + "text_zh": "观察：视频 21.6–22.36 s，机器人屈腿、抬臂并向杆侧跃动，但骨盆和双脚没有在同一次腾空中全部从横杆上方通过；最后一帧身体仍在横杆近侧，未落到杆后。log step 310 的机器人服务（实时仿真控制接口）在补交跳跃表后返回 outcome=\"the bar pushed the robot\"、stages_reached=0，随后状态为 done=True、reason=failed。" + }, + { + "t": 22.36, + "log_step": 311, + "text_zh": "观察：已检查本视频末秒至视频 22.36 s 最后一帧，仍无完整越杆落地；对照成功参考视频 16.2–17.0 s 可见机器人越过横杆并落到蓝垫上。log step 311 中 agent 自述“起跳提交前已经超时”，但 log step 310 实际先返回 done=False（打印为 live? False），且跳跃提交得到碰杆判负；因此采用画面和服务返回，不采用该超时解释。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–21.8 s，机器人双脚交替接触红色跑道承重前进，末段屈腿蹬地；没有完成杆后落地支撑。" + }, + { + "who": "未知", + "how": "其他", + "note_zh": "观察：视频约 22.2–22.36 s 身体靠到横杆处，log step 310 服务确认横杆推了机器人。候选方式“碰撞”：现有接触方式无专门的意外撞杆项；远景不足以确定接触的是哪一条腿、躯干还是上肢，故作用端记未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "rise_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "bar_impulse_Ns", + "unit": "N s", + "threshold": 2.0, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "high_jump_landed", + "t": 22.2, + "log_step": 310, + "where": "操作中", + "evidence_zh": "观察：视频约 22.2 s，机器人在杆前起跳动作中向横杆靠去，未把骨盆及双脚带到杆上方，至视频 22.36 s 仍未全身过杆。log step 310 中补交的跳跃表实际执行后，机器人服务返回“the bar pushed the robot”、stages_reached=0，并终止本次尝试。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 22.2, + "log_step": 310, + "evidence_zh": "观察：视频 22.08–22.36 s，机器人身体向横杆处移动时腿部仍低于杆高，没有清越横杆；log step 310 的服务返回“the bar pushed the robot”，随后 done=True、reason=failed，确认发生了导致判负的碰杆接触。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 22.2, + "log_step": 310, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：跳跃控制没有把助跑、起跳及抬腿净空衔接起来。log step 304 将触发/中止距离设为 1.03/0.98 米，log step 309 实际因距离与腿姿门限未同时满足而先中止起跳；log step 310 随后从停步姿态直接补交开环跳跃表，视频 21.6–22.36 s 显示动作未能清越横杆并碰杆。作为会话辅助证据，log step 306 对同一 gen.py 表的本地测试已输出骨盆最高 0.968 米、骨盆及双踝过杆均 MISS；此测试不当作本次视频的状态或精确高度。证据支持控制未能实现净空，尚不足以细分为某一增益或跟踪误差。" + } + ], + "gap_zh": "无状态日志；固定远景不能分辨碰杆的具体机器人连杆，也无法测定起跳脚力、横杆冲量及毫米级支座偏差。评分器未报告 air_s、rise_m、bar_impulse_Ns，原生指标均留空；本地仿真测试不是评分尝试的测量值。agent 最终超时说法与 log step 310 服务返回及视频末段动作不符，未据其归因。", + "unmet": { + "high_jump_landed": false + } + }, + "summary_zh": "机器人完成了接近横杆的助跑，随后补做跳跃，但在视频约 22.2 s 碰杆，未完成“跳过杆并落地”，最终为 0/1 节点。推断：控制未能把助跑与足够高的腾空净空动作衔接起来；log step 310 服务判定“the bar pushed the robot”，不支持 agent 在 log step 311 所称的提交前超时。无状态日志，具体碰撞部位、起跳受力及横杆冲量无法精确核实。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点 high_jump_landed=false、断点、时钟、对 agent 超时说法的否定都成立（log step 310 返回 'the bar pushed the robot'，控制步 2140≈21.4 s，不支持 60 s 超时）。问题在现象：失败本质是起跳/过杆高度不足，按分类应是 全身·步态（跳跃没达到），而不是 被挡/碰撞；远景视频也看不到杆挡住机器人的过程，只有服务的一句判负文字。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点 high_jump_landed=false、断点（操作中，t≈22.2 s 视频钟）、时钟均成立；第1轮关于被挡/碰撞的异议已被labeller以服务读数（log step 310 'the bar pushed the robot'，control_steps=2140≈21.4 s）驳回，我无新证据，予以接受。对agent超时说法的否定有log与视频支持。根因标控制·控制并明确会话测试仅作辅助，尚可。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + 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"efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-high-jump-i00-standard--ikhhnuf", + "taskKey": "embodied-olympics-fun/high_jump", + "dag_sha256": "c300ffe03322943c62dc1bb110296f40a1e3ae3d2ab8a7501f467100e7abad26", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 1353, + "sim_steps": 7485, + "calls": 595, + "rows": 3898, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 3195.3, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.342, + "peak_processes": 9, + "peak_disk_gb": 0.371, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-high-jump-i00-standard--ikhhnuf/replay.mp4", + "duration_s": 13.56, + "fps": 25.0, + "frames": 339, + "sha256": "e03662b5b03ce9d82a587034dbb66acdf981073d6b72bc85832345412f2869b0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "high_jump_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–11.5 s 的固定场地镜头中，机器人从红色跑道步行接近横杆与蓝垫，尚未出现腾空过杆。" + }, + { + "t": 13.52, + "log_step": 535, + "text_zh": "观察：视频 12.48–13.52 s，机器人直立移步至蓝垫前沿，双足仍在跑道高度，没有全身从横杆上方越过或落至杆后；log step 535 中实时服务转述裁判结果为“touched the ground or the mat beyond the bar's plane without a jump”，stages_reached 为 0/3。" + }, + { + "t": null, + "log_step": 534, + "text_zh": "观察：log step 531 启动第 6 次实时尝试；log step 534 的服务状态为 episode=6、done=True、reason=failed、resets_left=0。此前试验中的起跳与横杆掉落不属于本次受评视频。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0 s、6.0 s 及 12.48–13.52 s，机器人双脚在红色跑道上交替着地承重，完成接近横杆的步行；没有观察到起跳后的落垫支撑。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "rise_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "bar_impulse_Ns", + "unit": "N s", + "threshold": 2.0, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "high_jump_landed", + "t": 13.4, + "log_step": 535, + "where": "操作中", + "evidence_zh": "观察：视频约 13.4 s，机器人已步行至杆前蓝垫边缘，仍保持直立、脚位于跑道高度，没有执行腾空过杆；log step 535 的裁判反馈为未形成跳跃就触及横杆平面后的地面或垫子，阶段为 0/3，本次尝试至此失败。" + }, + "unmet": { + "high_jump_landed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 13.4, + "log_step": 535, + "evidence_zh": "观察：视频 11.68–13.52 s，机器人持续小步前移至蓝垫前，始终没有出现完成过杆所需的抬升、腾空和双踝越杆，末帧仍直立在跑道上；log step 535 的裁判结果确认未完成跳跃即发生杆后接触。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 523, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：log step 523 中，agent 的控制脚本仅在蓝垫距离 mat_d 非空且不大于 0.80 m，或仿真时间达到 25.00 s 时退出步行循环并转入起跳，否则继续提交前进速度为 0.8 m/s 的 walk 命令；log step 531 启动该最终版本。视频 12.48–13.52 s 显示机器人到达杆前仍只步行，log step 535 确认未跳即判负，支持助跑至起跳的控制切换未及时实现；现有证据不足以细分具体控制故障。" + } + ], + "gap_zh": "没有状态日志，固定远景不能确定首次杆后接触的具体身体部位及精确瞬间，断点取视频约 13.4 s。输入日志未呈现第 6 次尝试逐次 mat_d 的运行输出；agent 在 log step 537、540 将失效归于蓝垫深度掩码丢失，这一具体解释尚未核实。评分器未报告本次 air_s、rise_m 或 bar_impulse_Ns，因此三个原生指标均留空。" + }, + "summary_zh": "最终受评的是第 6 次实时尝试：机器人步行到横杆前，但未腾空越杆和落地，节点完成 0/1（视频 0.0–13.52 s；log step 534、535）。断点在跳高步骤操作中，表现为步态未实现所需跳跃；脚本与视频支持助跑到起跳的控制切换失败。没有状态日志及本次距离反馈序列，agent 所称蓝垫深度掩码丢失的具体原因尚待核实。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、断点 high_jump_landed、步态现象与控制根因均与视频（0–13.5 s 步行至杆前直立、无腾空）及 log step 523/534/535 一致；推断已标为推断，未发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:35:04Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-high-jump-i00-standard--ikhhnuf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-high-jump-i00-standard--ikhhnuf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "451f7f47f207d8b4fd9205f3995a0d890153fa20d4bf92306054523560ab6210", + "video_sha256": "e03662b5b03ce9d82a587034dbb66acdf981073d6b72bc85832345412f2869b0", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-standard--mumk5p4.json b/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-standard--mumk5p4.json new file mode 100644 index 0000000000000000000000000000000000000000..211ffbf5bde2f2ac8ad4a6374391629d2e1ccca5 --- /dev/null +++ b/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-standard--mumk5p4.json @@ -0,0 +1,205 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-high-jump-i00-standard--mumk5p4", + "taskKey": "embodied-olympics-fun/high_jump", + "dag_sha256": "c300ffe03322943c62dc1bb110296f40a1e3ae3d2ab8a7501f467100e7abad26", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 3650, + "sim_steps": 18406, + "calls": 457, + "rows": 17806, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 3440.7, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 3, + "resource_enforced": 0, + "limits_violation_observed": 1, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 9.845, + "peak_processes": 17, + "peak_disk_gb": 0.489, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "over_memory_gb": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-high-jump-i00-standard--mumk5p4/replay.mp4", + "duration_s": 36.52, + "fps": 25.0, + "frames": 913, + "sha256": "fae1df7a6e189528bad2a6167ec07615bcf0b2bf183034ec0af6d359d200311e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "high_jump_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 150, + "text_zh": "观察：视频0.0–30.0 s中，机器人从红色跑道走近横杆，转为侧向站立并作短距离位置调整；log step 150明确重置至episode 6后执行最后一次实时尝试，评分器字段graded_by_live=1。此前各episode的测试结果不作为本段视频的节点进度。" + }, + { + "t": 31.68, + "log_step": 150, + "text_zh": "观察：视频31.2–31.92 s中，机器人抬腿、蹬地后横向翻转腾空，但身体没有整体越过横杆；视频32.08–32.4 s中，机器人落在蓝垫前、横杆起跳侧的红色跑道上，没有完成过杆后落地。" + }, + { + "t": 36.48, + "log_step": 151, + "text_zh": "观察：视频35.52–36.48 s中，机器人一直躺在蓝垫前的红色跑道上，未再次起跳，横杆仍可见于支架之间；inputs/run.json的success和live_success均为0。画面中的未过杆落地直接支持本节点全程未达成。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频0.0–31.6 s中，机器人双脚交替接触红色跑道完成接近、转身和蹬地；视频32.08–36.48 s中，机器人跌落后由躯干及腿部与起跳侧跑道接触承重。没有完成杆后落地。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "rise_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "bar_impulse_Ns", + "unit": "N s", + "threshold": 2.0, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "high_jump_landed", + "t": 32.0, + "log_step": 150, + "where": "操作中", + "evidence_zh": "观察：视频31.6–32.4 s中，机器人起跳翻转后没有全身越过横杆，随即跌落于横杆起跳侧的红色跑道；视频36.48 s仍躺在原处。失败发生在跳过杆并落地这一步的跳跃动作中，后续没有完成该步。" + }, + "unmet": { + "high_jump_landed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 32.0, + "log_step": 150, + "evidence_zh": "观察：视频31.6–32.08 s中，机器人腾空翻转后向下跌落，躯干未越过横杆便落向起跳侧跑道；视频32.16–36.48 s中，机器人侧躺在跑道上，未恢复支撑站姿。这里记录的是未过杆便摔落的失衡，不把任务允许的杆后背部落垫本身视为失败。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "log_step": 150, + "source_zh": "日志", + "evidence_zh": "推断：起跳位置的反馈校正提前退出，固定跳跃动作因此在未经确认的位置执行。log step 126、131的agent脚本在距离候选xs为空时打印“E: no fix”并直接退出位置校正循环，主流程随后仍调用jump；log step 150的最后一次尝试确实先记录估计位置x=-1.324 m、计划目标x=-0.444 m（均为agent算法输出或设定，并非状态真值），作一次侧移后失去两种距离读数，打印“E: no fix”后仍执行跳跃。视频27.0–30.0 s显示侧移随后停止，视频31.6–32.4 s显示跳跃未过杆便跌回跑道，支持定位反馈未收敛这一控制归因。" + } + ], + "gap_zh": "无状态日志，也没有本次尝试的足部接触力、横杆冲量及实际起跳坐标，无法精确核验单脚起跳规则或拆分各关节跟踪误差；agent在log step 155自述起跳点约远了0.5 m，该距离不能独立精确核实。评分器未报告air_s、rise_m、bar_impulse_Ns，原生指标均填null；日志中自建模拟器的测试数值不属于本次评分指标。这些缺口不影响视频直接确认本节点未完成。" + }, + "summary_zh": "评分视频对应最后一次实时尝试episode 6：机器人完成接近、转身和起跳，但在视频约32.0 s未越过横杆便跌落于起跳侧跑道，最终完成0/1个节点。日志显示位置校正因距离读数丢失而退出，脚本仍执行固定跳跃，支持反馈控制归因；视频36.48 s机器人仍躺在跑道上。缺少足力、实际起跳坐标和关节跟踪记录，无法精确确认起跳合法性或量化起跳位置误差。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频31.2–32.4 s放大帧确认机器人起跳后未越过横杆，落在蓝垫前的红色跑道上，横杆仍在支架上，节点未达成、断点与平衡现象成立；反馈控制根因已标为推断并有log step 150/153支持。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:31:57Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-high-jump-i00-standard--mumk5p4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-high-jump-i00-standard--mumk5p4/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f3c830648a91f807b311e70e588c2e9a107a3537d3d3f7d0e0381e0e0a9c27c7", + "video_sha256": "fae1df7a6e189528bad2a6167ec07615bcf0b2bf183034ec0af6d359d200311e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-standard--mwn5dwj.json b/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-standard--mwn5dwj.json new file mode 100644 index 0000000000000000000000000000000000000000..37fa29f36f38d18b14efede54e65a0bb8b688ef6 --- /dev/null +++ b/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-standard--mwn5dwj.json @@ -0,0 +1,203 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-high-jump-i00-standard--mwn5dwj", + "taskKey": "embodied-olympics-fun/high_jump", + "dag_sha256": "c300ffe03322943c62dc1bb110296f40a1e3ae3d2ab8a7501f467100e7abad26", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 1202, + "sim_steps": 12656, + "calls": 85, + "rows": 1059, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 958.4, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.563, + "peak_processes": 9, + "peak_disk_gb": 0.837, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-high-jump-i00-standard--mwn5dwj/replay.mp4", + "duration_s": 12.04, + "fps": 25.0, + "frames": 301, + "sha256": "8171e8fc425fba890e9503501532e3f1295ffdfd385aaf697cfaa003f9de84f1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "high_jump_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 101, + "text_zh": "观察：视频 0.0–11.4 s 中，机器人从红色跑道沿两立柱之间的方向接近横杆；log step 101 是最后一次重置，log step 102 随后执行助跑，reward.graded_by_live=1、resets=5。视频展示这次最终实时尝试，前五次会话试验不计入节点进度。" + }, + { + "t": 11.8, + "log_step": 108, + "text_zh": "观察：视频 11.4–12.0 s 的逐帧画面中，机器人先收起一腿、另一腿蹬伸，继而双腿屈曲、躯干转斜并下坠至蓝垫前；双踝始终没有从横杆上方通过，全身未越杆。红白横杆仍横在两支架之间。" + }, + { + "t": 12.0, + "log_step": 111, + "text_zh": "观察：视频 12.0 s 最后一帧中机器人已低伏在垫前，未出现过杆后落到另一侧的结果。log step 111 的机器人服务反馈 done=True、reason=failed、stages_reached=0/3，outcome 为“全身过杆前触及杆后地面或垫”，记录的仿真时刻为 12.02 s；该判定与视频末段未净空的画面一致。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–11.4 s，机器人双脚交替接触红色跑道承重前行；视频 11.4–11.8 s 可见一脚仍在跑道上承重、另一腿收起，随后身体失衡下坠。末次地面或垫接触由 log step 111 的服务判定确认，但画面不能辨认该次接触的具体身体部位。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "rise_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "bar_impulse_Ns", + "unit": "N s", + "threshold": 2.0, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "high_jump_landed", + "t": 11.8, + "log_step": 108, + "where": "操作中", + "evidence_zh": "观察：视频 11.6–12.0 s，机器人正在执行起跳和收腿动作，却在横杆前逐渐倾斜、下坠，脚未从横杆上方通过；log step 111 的服务随后判定未全身过杆便触及杆后地面或垫，节点始终未完成。" + }, + "unmet": { + "high_jump_landed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 11.8, + "log_step": 108, + "evidence_zh": "观察：视频 11.6–12.0 s 的连续帧中，机器人从单腿伸展姿态转为躯干明显倾斜、双腿屈曲，身体迅速下坠至蓝垫前，未形成全身过杆的腾空。log step 111 的服务记录骨盆 IMU 四元数已为 [0.663,-0.375,0.391,-0.516]，并报告未净空便触地。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：起跳阶段的分段关节位置控制未能维持全身姿态并产生足以净空的运动。log step 104 将步行切换为固定关节目标并保持 7 个控制步；log step 105 随后将右髋、膝、踝目标切换为 [0.5,-0.26,0.5236] 弧度并保持 14 个控制步；log step 108 再将双腿切为屈髋屈膝目标。这些动作块按固定长度执行，块内没有依据姿态反馈修正目标的逻辑；视频 11.6–12.0 s 随后出现转斜和下坠。现有记录不能区分具体的接触布局、轨迹或增益问题，因此只归为控制。", + "source_zh": "日志" + } + ], + "gap_zh": "没有状态日志；固定远景中的机器人较小，无法独立核验非起跳脚的支撑力、精确腾空时长和上升量、横杆冲量，亦不能辨认末次杆后接触的身体部位。air_s、rise_m 和 bar_impulse_Ns 未由评分字段报告，原生指标值留 null。控制根因可由执行代码与失衡画面支持，但不足以细分控制子类。" + }, + "summary_zh": "受评的是最后一次重置后的第六次实时尝试：机器人完成助跑并执行收腿、蹬伸和双腿屈曲动作，但“跳过杆并落地”始终未完成，最终为 0/1。视频 11.6–12.0 s 显示机器人在杆前失衡下坠，log step 111 的服务判定未全身过杆便触及杆后地面或垫；分段关节控制未实现所需起跳运动。无状态日志，精确受力、腾空指标和末次接触部位无法核实，根因不再细分。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达、断点 high_jump_landed、平衡现象与控制根因均与视频和 log step 111 的服务判定一致，未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:45:30Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-high-jump-i00-standard--mwn5dwj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-high-jump-i00-standard--mwn5dwj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "585576c2c8129ea0406f7a236f4b8b03b0d1c8d622a1f36f11d54397178b5503", + "video_sha256": "8171e8fc425fba890e9503501532e3f1295ffdfd385aaf697cfaa003f9de84f1", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-standard--qcarkxh.json b/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-standard--qcarkxh.json new file mode 100644 index 0000000000000000000000000000000000000000..4cd9ba5eab4930a90331c31e9d9f3dfd5988aec1 --- /dev/null +++ b/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-standard--qcarkxh.json @@ -0,0 +1,213 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-high-jump-i00-standard--qcarkxh", + "taskKey": "embodied-olympics-fun/high_jump", + "dag_sha256": "c300ffe03322943c62dc1bb110296f40a1e3ae3d2ab8a7501f467100e7abad26", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 1346, + "sim_steps": 9792, + "calls": 464, + "rows": 9662, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 6926.5, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 3, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 4.217, + "peak_processes": 19, + "peak_disk_gb": 1.007, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-high-jump-i00-standard--qcarkxh/replay.mp4", + "duration_s": 13.48, + "fps": 25.0, + "frames": 337, + "sha256": "548d23af24d017d1ed992e48b3e9dfd76d335c94fd51dc5ab689ca24458de17c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "high_jump_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s 机器人站在红色跑道上、位于横杆起跳侧；全片按约1秒间隔检查显示它逐步走近横杆，未出现过杆落地。" + }, + { + "t": 12.48, + "log_step": 168, + "text_zh": "观察：视频 12.48—13.44 s 逐帧检查显示机器人在横杆近侧屈膝、降低身体并向前移动，脚和骨盆始终没有从横杆上方越过，最后仍在红色跑道侧，未落到杆后。log step 168 启动第6局的低层起跳命令。" + }, + { + "t": 13.44, + "log_step": 173, + "text_zh": "观察：log step 173 读取的机器人实时服务裁判记录为 episode=6、done=true、reason=failed、outcome=\"the bar pushed the robot\"、stages_reached=0/3；这与视频 13.44 s 末帧尚未过杆一致。" + }, + { + "t": 13.44, + "log_step": 173, + "text_zh": "推断：log step 173 的本局 control_steps=1346，按 log step 7 的 control_dt=0.01秒对应本局仿真 13.46 s，与视频 13.44 s 末帧处的碰杆终止相符；只对齐第6局，不使用其他重置局或agent工作时间。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00—13.44 s 机器人双脚交替支撑跑道以接近横杆，末段屈膝加载时足部仍在跑道侧支撑；未见杆后落垫支撑。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 13.00—13.44 s 机器人上身与横杆在远景中重叠；log step 173 的第6局裁判结果确认横杆推到了机器人。远景无法可靠分辨究竟是手臂、躯干或其他连杆接触，也无法判定具体接触方式。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "rise_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "bar_impulse_Ns", + "unit": "N s", + "threshold": 2.0, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "high_jump_landed", + "t": 13.4, + "log_step": 173, + "where": "操作中", + "evidence_zh": "观察：视频 13.00—13.44 s，机器人在横杆起跳侧屈膝准备蹬起，尚未全身过杆即结束；log step 172—173 的第6局实时服务裁判给出 \"the bar pushed the robot\"，阶段为0/3。失败发生于跳高动作中。" + }, + "unmet": { + "high_jump_landed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 13.4, + "log_step": 173, + "evidence_zh": "观察：视频 13.00—13.44 s 机器人屈膝向横杆靠近，上身处于横杆附近而脚仍在起跳侧；log step 173 的第6局服务裁判明确报告 \"the bar pushed the robot\" 并判负，证明本次跳跃在净空前发生碰杆，未见随后修复。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 164 的 live_phase.py 对预先生成的低层关节命令逐行执行，log step 165 生成最后的蹬伸动作，log step 168 将 final_ramp 动作用于第6局；视频 12.48—13.44 s 显示该加载和蹬伸过程未让身体先升到能避开横杆的位置，log step 173 的裁判随即报告碰杆判负。因此归于起跳动作控制未能维持横杆净空；没有足够证据细分为逆解、反馈或某个参数错误。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "本次无状态日志；640×360远景不能确定触杆连杆、精确首次接触时刻和法向冲量，裁判只报告失败原因而未提供冲量数值，air_s、rise_m及bar_impulse_Ns均未在reward字段报告。起跳控制的具体参数误差或模型误差无法进一步区分；前五局是会话调试，不计入本局进度。" + }, + "summary_zh": "本次评分为最后一次实时尝试（第6局）：机器人走到横杆前并开始屈膝起跳，但没有完成全身过杆和杆后落地，节点最终为0/1。视频 13.00—13.44 s 与 log step 173 的裁判记录相符，机器人在净空前碰杆，起跳动作控制未能避开横杆而失败。无状态日志且镜头较远，具体触杆部位、冲量数值和控制误差细分无法确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点未达成、断点（high_jump_landed，操作中）、被挡/碰撞现象与日志中第6局裁判 'the bar pushed the robot' 及视频末段（机器人在横杆近侧、未过杆）一致；控制根因已明确标为推断且保守。未发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:32:38Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": 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new file mode 100644 index 0000000000000000000000000000000000000000..a47a72dac687eb71dea527eeeafa686caaa712b0 --- /dev/null +++ b/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-standard--rpiuly8.json @@ -0,0 +1,208 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-high-jump-i00-standard--rpiuly8", + "taskKey": "embodied-olympics-fun/high_jump", + "dag_sha256": "c300ffe03322943c62dc1bb110296f40a1e3ae3d2ab8a7501f467100e7abad26", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 1318, + "sim_steps": 9713, + "calls": 188, + "rows": 9713, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 934.6, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 3, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.406, + "peak_processes": 10, + "peak_disk_gb": 1.168, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-high-jump-i00-standard--rpiuly8/replay.mp4", + "duration_s": 13.2, + "fps": 25.0, + "frames": 330, + "sha256": "0239bd056167c1c409ce54d972bde1a7d222c10c57e130f964c0b462f60875cf" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "high_jump_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 159, + "text_zh": "观察：视频 0.00 s 机器人站在红色跑道上、位于横杆起跳侧；视频 0–12.72 s 机器人步行接近横杆。log step 159 将实时服务重置为 episode 6，log step 163、165 仍为 episode 6；本视频对应最后一次尝试，不包含此前重置前的练习跳跃。" + }, + { + "t": 13.16, + "log_step": 165, + "text_zh": "观察：逐帧检查视频 12.16–13.16 s，机器人在杆前屈膝并向前俯身，至少一脚仍在红色跑道上，上身进入横杆位置；没有出现同一次腾空中骨盆、双踝及全身越杆并落到另一侧的过程。log step 165 的实时服务裁判结果为 done=true、reason=failed、outcome=\"the bar pushed the robot\"、stages_reached=0/3，节点未完成。" + }, + { + "t": 12.72, + "log_step": 163, + "text_zh": "推断：log step 6 给出 control_dt=0.01 s，log step 163 显示最后一段关节控制从 control_steps=1270 执行到 1318，对应视频约 12.70–13.18 s；已与视频 12.76 s 开始屈膝前倾及视频 13.16 s 的末帧核对，总时长也与视频 13.20 s 一致。这里使用该次尝试的控制步数，未将 agent 工作时间换算成视频时间。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0–12.72 s 机器人双脚交替支撑红色跑道并步行接近横杆；视频 12.76–13.16 s 在跑道上屈膝前倾，仍有脚部支撑，未见杆后落地支撑。" + }, + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "推断：视频 13.00–13.16 s 机器人上身前倾进入横杆位置，log step 165 的实时服务裁判确认横杆对机器人施力；接触端归为头/躯干区域，低分辨率固定镜头不能细分具体碰撞几何。候选名称：非预期碰撞；现有抓握、推/扫、压/擦、托/舀、勾、手内调整及支撑均不能准确描述这次撞杆，故用其他。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "rise_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "bar_impulse_Ns", + "unit": "N s", + "threshold": 2.0, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "high_jump_landed", + "t": 13.1, + "log_step": 165, + "where": "操作中", + "evidence_zh": "观察：视频 12.76–13.16 s 机器人正在杆前执行屈膝、前倾的起跳准备，上身进入横杆位置，尚未完成腾空净空。log step 163 显示本次关节控制段中 episode 6 终止，log step 165 的实时服务裁判报告 \"the bar pushed the robot\"、阶段 0/3；之后没有修复或继续完成跳跃。碰杆锚点取视频约 13.1 s。" + }, + "unmet": { + "high_jump_landed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 13.1, + "log_step": 165, + "evidence_zh": "观察：视频 13.00–13.16 s 机器人前倾的上身到达红白横杆处，脚仍在杆前跑道上，没有从横杆上方净空通过；log step 165 的实时服务裁判报告 \"the bar pushed the robot\" 并终止本次尝试。该服务字段确认横杆接触阻断了跳跃；同一次撞杆不再另标接触力异常或违反约束。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 152 定义抬右腿、左腿深蹲和伸展的预设关节关键帧，log step 162 的继续脚本以当前关节位置为起点一次提交该 lowcmd 控制段；log step 163 显示该段仅执行 48 个控制步便被裁判终止。视频 12.76–13.16 s 显示实际动作把上身向横杆推进，脚尚未离开跑道；结合 log step 165 的撞杆结果，可归因于起跳前全身运动控制未保持净空。现有记录不足以区分轨迹设计、反馈控制或具体参数问题，故保留控制大类。" + } + ], + "gap_zh": "没有状态日志，也未提供本次尝试逐步接触力、世界坐标及速度记录；固定场地镜头分辨率不足以判定具体头/胸碰撞几何、单脚起跳力窗口和精确冲量。裁判只报告撞杆判负，未报告 air_s、rise_m、bar_impulse_Ns 的精确数值，三个原生指标均留 null。agent 在 log step 199 所称残余前进速度约 0.6 m/s 是其自述，未当作已测实值；不能据此细分控制根因。" + }, + "summary_zh": "本次评分为最后一次实时尝试（episode 6）：机器人步行到横杆前并开始屈膝起跳准备，但视频 13.00–13.16 s 显示上身前倾到横杆处、脚仍在跑道上，跳过杆并落地节点完成 0/1。log step 165 的实时服务裁判以“the bar pushed the robot”、阶段 0/3 判负；现象为被挡/碰撞，起跳前全身运动控制未保持净空。没有状态与逐步力数据，无法细分控制根因或恢复三个原生指标的精确值。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未完成、断点（high_jump_landed，操作中）、被挡/碰撞现象与控制根因均与视频和实时裁判结果（the bar pushed the robot，阶段0/3）一致；时钟使用控制步数并说明了核对，无明显错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:34:05Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-high-jump-i00-standard--rpiuly8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-high-jump-i00-standard--rpiuly8/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d88c8917f4df3a1d2bee0fa5e20253233b35d05772cc36692631aea012e84c62", + "video_sha256": "0239bd056167c1c409ce54d972bde1a7d222c10c57e130f964c0b462f60875cf", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-standard--wqxdeqm.json b/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-standard--wqxdeqm.json new file mode 100644 index 0000000000000000000000000000000000000000..fd948c1e4bf3d1db4acb769545180ec4e6cdc908 --- /dev/null +++ b/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-standard--wqxdeqm.json @@ -0,0 +1,188 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-high-jump-i00-standard--wqxdeqm", + "taskKey": "embodied-olympics-fun/high_jump", + "dag_sha256": "c300ffe03322943c62dc1bb110296f40a1e3ae3d2ab8a7501f467100e7abad26", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 0, + "sim_steps": 0, + "calls": 1, + "rows": 0, + "resets": 0, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 7176.5, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 4, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.709, + "peak_processes": 10, + "peak_disk_gb": 0.417, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-high-jump-i00-standard--wqxdeqm/replay.mp4", + "duration_s": 0.04, + "fps": 25.0, + "frames": 1, + "sha256": "66f440a1ee7a787f7f7640988e3e3242c776c61c1578bd5aff3ad2333e0c1a8e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "high_jump_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 6, + "text_zh": "观察：本次视频唯一一帧（视频 0.00 s，片长 0.04 s）中，机器人站在红色跑道初始位置，与横杆和蓝垫相距数米，未起跳或过杆；log step 6 的实时机器人服务观测为 seconds=0.0、control_steps=0、sim_time_s=0.0。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 graded_by_live=1、n_actions=0、sim_steps=0、rows=0、calls=1、resets=0、live_success=0，确认本次受评实时场景未推进；节点未完成不只依据零分判定。" + }, + { + "t": null, + "log_step": 39, + "text_zh": "观察：log step 39 创建 HighJumpSim，以 MuJoCo 的 MjModel、MjData 和 mj_step 推进本地模型；log step 249 仍调用该本地模型搜索跳跃参数。这些测试不属于本次受评实时场景，不能计为起跳、过杆、落地或实际接触。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未向受评实时场景交付运动：评分器记录 n_actions=0、sim_steps=0；log step 6 仅请求零时长观测。视频 0.00 s 的初始站立不作为跳跃尝试的支撑接触，本地仿真的接触也不计入。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "air_s", + "unit": "s", + "threshold": 0.05, + "direction": "higher_better", + "value": null + }, + { + "name": "rise_m", + "unit": "m", + "threshold": 0.08, + "direction": "higher_better", + "value": null + }, + { + "name": "bar_impulse_Ns", + "unit": "N s", + "threshold": 2.0, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "high_jump_landed", + "t": 0.0, + "log_step": 6, + "where": "首步前", + "evidence_zh": "观察：视频 0.00 s 只有机器人在跑道初态站立，尚未接近横杆；log step 6 为零时长实时观测。评分器记录 n_actions=0、sim_steps=0；log step 249 仍在运行自建本地仿真的参数搜索，未形成受评跳跃运动交付，因此该唯一步骤在启动前结束。" + }, + "unmet": { + "high_jump_landed": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 有本次单帧视频、完整运行日志和成功参考视频，没有状态日志；评分器未报告 air_s、rise_m 或 bar_impulse_Ns。本次无受评运动交付，依 DECISIONS.md D23，现象与根因均留空；本地仿真测试不足以证明受评机器人发生了某种物理失败，也不足以确定未交付背后的具体能力根因。run.json 记录 wall_s=7200、time_limit_s=7200，评分器 infra_error=0、sim_error=0；预算耗尽本身不作为现象或根因。" + }, + "summary_zh": "本次受评实时场景没有推进，视频 0.00 s 仅显示机器人站在红色跑道初始位置，“跳过杆并落地”最终为0/1，断点在该步首步前。log step 6 只获取零时长观测，log step 39 至 log step 249 的本地仿真测试没有成为受评运动交付。按 D23 将现象和根因留空：没有受评运动可观察其物理失败，原生指标也未报告。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "标签与证据一致：评分器 n_actions=0、sim_steps=0，视频仅单帧初态，log 显示一直在本地 MuJoCo 里调参；按 D23(a) 现象/根因留空并有 gap_zh，断点首步前合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:30:33Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-high-jump-i00-standard--wqxdeqm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-high-jump-i00-standard--wqxdeqm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "077c45fe39b49088b03adc34a0da20482093adddabbc5904c23d01e1901fb7c8", + "video_sha256": "66f440a1ee7a787f7f7640988e3e3242c776c61c1578bd5aff3ad2333e0c1a8e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-standard--zy6xgxt.json b/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-standard--zy6xgxt.json new file mode 100644 index 0000000000000000000000000000000000000000..a8ca20ff7c5accd75428b5381705b2a7bcc4aa5c --- /dev/null +++ b/phase2/embodied-olympics-fun/high_jump/trajectories/embodied-olympics-fun-high-jump-i00-standard--zy6xgxt.json @@ -0,0 +1,231 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": 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"resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-high-jump-i00-standard--zy6xgxt/replay.mp4", + "duration_s": 13.96, + "fps": 25.0, + "frames": 349, + "sha256": "08b518fabd0406e128b48d66a3a61e89783c78092608f7750c2f9b8eb93bc40c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "high_jump_landed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：本次视频从红色跑道上的机器人开始；视频0、2、4、6、8、10、11、12、13及13.92 s的画面显示机器人步行到横杆左立柱外侧，未见全身腾空越杆或到达杆后蓝垫。" + }, + { + "t": 13.92, + "log_step": null, + "text_zh": "观察：视频8、10、11、12、13 s及视频12.96–13.92 s逐帧画面中，机器人保持直立，仍有前进；视频13.92 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"hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-juggle-three-i00-privileged--auwjakp/replay.mp4", + "duration_s": 4.8, + "fps": 25.0, + "frames": 120, + "sha256": "78d50d3a3ca1b7c9ee3dc462c5c0efd8db02d16f07bb6650cdf3feac31d44144" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 5, + "final": 5, + "nodes": { + "catch_1": { + "method": "visual", + "intervals": [ + [ + 2.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.8, + "log_step": null, + "text_zh": "观察：视频 2.68–3.00 s，红球由空中落至机器人左手，随后停留于合拢的手指间并随手移动；这是按红、蓝、黄及左、右手交替观察到的第1次接球。到达时间取视频约 2.80 s；run.json 的评分器字段 metric_catches=5 与前五次接球一致，微小指面接触及0.05秒夹持不能仅由全景逐物理步核验。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左手手指合拢包住红球，球随后随手运动；以可见持球及评分器有效接球总数相互核对。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "视频 2.68–3.00 s，机器人双脚接地支撑，站立完成本次接球。" + } + ] + }, + "catch_2": { + "method": "visual", + "intervals": [ + [ + 3.08, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.08, + "log_step": null, + "text_zh": "观察：视频 2.92–3.16 s，蓝球由空中落至机器人右手，随后停留于合拢的手指间并随手移动；这是按红、蓝、黄及左、右手交替观察到的第2次接球。到达时间取视频约 3.08 s；run.json 的评分器字段 metric_catches=5 与前五次接球一致，微小指面接触及0.05秒夹持不能仅由全景逐物理步核验。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右手手指合拢包住蓝球，球随后随手运动；以可见持球及评分器有效接球总数相互核对。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "视频 2.92–3.16 s，机器人双脚接地支撑，站立完成本次接球。" + } + ] + }, + "catch_3": { + "method": "visual", + "intervals": [ + [ + 3.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.4, + "log_step": null, + "text_zh": "观察：视频 3.28–3.60 s，黄球由空中落至机器人左手，随后停留于合拢的手指间并随手移动；这是按红、蓝、黄及左、右手交替观察到的第3次接球。到达时间取视频约 3.40 s；run.json 的评分器字段 metric_catches=5 与前五次接球一致，微小指面接触及0.05秒夹持不能仅由全景逐物理步核验。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左手手指合拢包住黄球，球随后随手运动；以可见持球及评分器有效接球总数相互核对。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "视频 3.28–3.60 s，机器人双脚接地支撑，站立完成本次接球。" + } + ] + }, + "catch_4": { + "method": "visual", + "intervals": [ + [ + 3.92, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.92, + "log_step": null, + "text_zh": "观察：视频 3.76–4.08 s，红球由空中落至机器人右手，随后停留于合拢的手指间并随手移动；这是按红、蓝、黄及左、右手交替观察到的第4次接球。到达时间取视频约 3.92 s；run.json 的评分器字段 metric_catches=5 与前五次接球一致，微小指面接触及0.05秒夹持不能仅由全景逐物理步核验。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右手手指合拢包住红球，球随后随手运动；以可见持球及评分器有效接球总数相互核对。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "视频 3.76–4.08 s，机器人双脚接地支撑，站立完成本次接球。" + } + ] + }, + "catch_5": { + "method": "visual", + "intervals": [ + [ + 4.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.2, + "log_step": null, + "text_zh": "观察：视频 4.08–4.32 s，蓝球由空中落至机器人左手，随后停留于合拢的手指间并随手移动；这是按红、蓝、黄及左、右手交替观察到的第5次接球。到达时间取视频约 4.20 s；run.json 的评分器字段 metric_catches=5 与前五次接球一致，微小指面接触及0.05秒夹持不能仅由全景逐物理步核验。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左手手指合拢包住蓝球，球随后随手运动；以可见持球及评分器有效接球总数相互核对。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "视频 4.08–4.32 s，机器人双脚接地支撑，站立完成本次接球。" + } + ] + }, + "catch_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.56, + "log_step": null, + "text_zh": "观察：视频 3.84–4.00 s，机器人左手抛出黄球；视频 4.32–4.76 s，黄球下降至右手附近，却未停在右手中，随后从右手外侧落向地面。视频 4.76 s 黄球已至地面处，右手空着，机器人仍站立；评分器 metric_catches=5，未出现第6次有效接球。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "机器人右手向下落黄球承接；视频 4.52–4.56 s 球与手指投影相邻或重叠，无法确认是否短暂擦碰及具体接触方式，未观察到合拢夹住后随手运动。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "视频 4.32–4.76 s，机器人双脚继续支撑身体，黄球失接时未摔倒。" + } + ] + }, + "catch_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.76, + "log_step": null, + "text_zh": "观察：视频 4.28–4.44 s，机器人右手将红球再次抛起；视频 4.68–4.76 s，左手释放蓝球后抬起，红球仍在头部上方飞行，尚未落入左手受控。第6次黄球接球未完成，评分器有效接球总数停在5，故第7次接球未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 4.20–4.36 s，右手握持并抛出红球，为下一次左手接红球做准备；不是左手已接住红球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人站立支撑身体，继续执行抛接准备。" + } + ] + }, + "catch_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.76, + "log_step": null, + "text_zh": "观察：视频 4.60–4.76 s，机器人左手将蓝球抛出，末帧蓝球仍在左手上方上升，没有进入右手；前置接球及第8次接球均未完成，评分器 metric_catches=5。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 4.60–4.76 s，左手先握持蓝球再将其抛出，为以后右手接球做准备；末帧蓝球已离手，未完成接球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚支撑站立，抛出蓝球时没有倒地。" + } + ] + }, + "catch_9": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.76, + "log_step": null, + "text_zh": "观察：完整视频 0.00–4.76 s 仅出现前五次按序接球，随后黄球失接落地，未出现第9次左手接黄球的动作或结果；评分器 metric_catches=5，与尚未推进至该次接球一致。" + } + ] + }, + "catch_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.76, + "log_step": null, + "text_zh": "观察：完整视频 0.00–4.76 s 仅出现前五次按序接球，随后黄球失接落地，未出现第10次右手接红球的动作或结果；评分器 metric_catches=5，与尚未推进至该次接球一致。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catches", + "value": 5.0, + "unit": "次", + "threshold": 10, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "catch_6", + "t": 4.56, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约 4.52–4.60 s，机器人右手没有把下落黄球接入并稳定控制，黄球越过手侧继续下落；视频 4.76 s 黄球到达地面处，仍无第6次有效接球，机器人保持站立。评分器 metric_catches=5、episode_over=1；断点为正在执行且再未补成的第6次接球。" + }, + "unmet": { + "catch_1": true, + "catch_2": true, + "catch_3": true, + "catch_4": true, + "catch_5": true, + "catch_6": false, + "catch_7": false, + "catch_8": false, + "catch_9": false, + "catch_10": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 4.56, + "log_step": null, + "evidence_zh": "观察：视频 4.32–4.76 s，机器人右手下降并尝试跟随下落黄球，但球在视频约 4.56 s 从手侧继续落下，右手没有在球经过时将其接稳；末帧黄球已在地面处。运动目标经过承接区而未被截住，属于动态抛接未跟上；不把同一次失接再重复记为掉球现象。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 4.56, + "log_step": 190, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频 2.68–4.32 s 显示机器人已按正确颜色及左右手次序完成前五次接球，视频 4.32–4.76 s 的黄球轨迹与右手承接运动却未配合成功。log step 190 的交付脚本根据预测落点求手臂姿态并用接近/触碰条件闭指，log step 191 启动生成和回放，log step 199 自述保存了5次接球版本；结合评分器 deterministic=1、n_actions=477、metric_catches=5，可定位为该版本抛接控制未成功完成第6次承接。现有证据不足以再区分抛球速度、接球轨迹、跟踪误差或闭指时机的贡献。" + } + ], + "gap_zh": "没有状态日志或本次交付回放的逐物理步接触与有效接球计数；25帧/秒全景无法辨清黄球在视频 4.52–4.56 s 是否曾短暂擦碰右手，亦不能独立核验每次0.05秒夹持。节点时间来自逐帧视频，约有0.1秒误差；前五次有效性同时由评分器总数5确认。log step 184、194 是会话测试的诊断，虽与本次末尾失接相符，不作为本次视频时钟或状态日志；log step 204 的7次接球是交付后的另一测试，不能计入本次。控制根因仅能判到大类，缺少交付回放的目标/实测手位、球速及指面接触对比，不能细分。" + }, + "summary_zh": "机器人完成红、蓝、黄、红、蓝共5次有效接球，事件节点保持为5/10；随后右手未跟上黄球的下降并接稳，黄球在视频末尾落地，断点为第6次接球。机器人全程站立，失败体现为动态承接时机与运动未配合，归因到控制大类；末尾红、蓝球仍被继续抛出，未产生后续有效接球。评分器记录5次接球，日志最后另一次测试的7次不属于交付轨迹；无状态日志使微小指面接触及控制子原因无法确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "逐帧核对视频 3.8–4.8 s：蓝球留在机器人左手（画面右侧），黄球由机器人左手抛出后落向右手侧、擦过手边落地，与第6次接球失败一致；前五次接球数与评分器 metric_catches=5 相符，断点 catch_6、现象动态时机、根因控制（未细分）均有证据支持，时间均为视频时钟。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:46:20Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-privileged--auwjakp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-privileged--auwjakp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1a9eea300b89c4b0460873c0d4d10b277df5ad438560227b0973a6970ef2681d", + "video_sha256": "78d50d3a3ca1b7c9ee3dc462c5c0efd8db02d16f07bb6650cdf3feac31d44144", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-privileged--dvv6qmc.json b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-privileged--dvv6qmc.json new file mode 100644 index 0000000000000000000000000000000000000000..e05ef003a6eccf723397bf41d35bf52b21c6d8fa --- /dev/null +++ b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-privileged--dvv6qmc.json @@ -0,0 +1,324 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-juggle-three-i00-privileged--dvv6qmc", + "taskKey": "embodied-olympics-fun/juggle_three", + "dag_sha256": "6866d226deb20280211e64f8e3dd22d2e841dc997eece3315afe456bf7a5815b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 287, + "sim_steps": 286, + "horizon": 2000, + "episode_over": 1, + "progress": 0.0, + "stages_reached": 0, + "stages_total": 3, + "fell": 0, + "replay_s": 10.21, + "bad_trajectory": 0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 16, + "agent_resets": 8, + "agent_replays": 4, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.075, + "peak_processes": 9, + "peak_disk_gb": 0.241, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-juggle-three-i00-privileged--dvv6qmc/replay.mp4", + "duration_s": 2.88, + "fps": 25.0, + "frames": 72, + "sha256": "fd623b780f926ee248b65b66e61cac2f8930b2c9952d5b4d80f7494a5dc20a1c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "catch_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.68, + "log_step": 176, + "text_zh": "观察：视频 1.80–2.20 s 红球从地面发球机飞出，视频 2.44–2.84 s 红球下落至机器人左手掌指附近，左手随球下降；末帧未见红球被手指包住并受控随手运动。log step 176 对最终交付的287行文件进行独立回放，执行286行后裁判报告 ball_a（红球）“a ball that came down on a hand was not caught”，且没有 catch 事件；该结果与视频一致，第1次有效接球未完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "托/舀", + "note_zh": "观察：视频 2.68–2.84 s 机器人左手从下方承接下落红球并下移缓冲，红球位于掌指上方，未见形成包围球的抓握；log step 176 的最终文件回放确认红球回碰手后未接稳。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–2.84 s 机器人双脚始终在地面支撑身体，接红球时保持站立。" + } + ] + }, + "catch_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 176, + "text_zh": "观察：视频约 2.32–2.44 s 蓝球离开机器人左手向上飞，随后未见蓝球落入右手并受控运动；视频 2.84 s 回合仍停在首接红球失败。推断：第2次接球的抛球准备已经执行，但尚未接到蓝球，且前置 catch_1 未完成，故该计数事件不成立；log step 176 最终文件回放同样只有蓝球 release 事件而无 catch 事件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 2.20–2.44 s 机器人左手将原持蓝球随手举起，继而张指抛出，属于第2次接球的抛球准备；并未观察到右手抓住蓝球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 2.20–2.84 s 机器人双脚在地面支撑，站立进行蓝球抛出及接球准备。" + } + ] + }, + "catch_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 176, + "text_zh": "观察：视频 2.60–2.68 s 黄球从机器人右手升起，视频 2.72–2.84 s 黄球仍在机器人上方空中，未落入左手；log step 176 最终文件回放记录黄球 release 后即因首发红球未接稳结束。推断：第3次接球仅完成抛球准备，既无接黄球，也未满足前置 catch_2。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 2.44–2.68 s 机器人右手举起原持黄球后张指抛出，属于第3次接球的抛球准备；并未观察到左手抓住黄球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 2.44–2.84 s 机器人双脚支撑地面，站立抛出黄球。" + } + ] + }, + "catch_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 176, + "text_zh": "观察：已检查视频 0.00–2.84 s，只有初始持球、发球机首发及蓝黄两球首次抛出，未出现第4次将红球接入右手的后续交替循环；log step 176 最终文件独立回放在首发红球未接稳处结束，无 catch 事件。推断：前置 catch_3 未达到，本计数事件未发生。" + } + ] + }, + "catch_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 176, + "text_zh": "观察：已检查视频 0.00–2.84 s，只有初始持球、发球机首发及蓝黄两球首次抛出，未出现第5次将蓝球接入左手的后续交替循环；log step 176 最终文件独立回放在首发红球未接稳处结束，无 catch 事件。推断：前置 catch_4 未达到，本计数事件未发生。" + } + ] + }, + "catch_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 176, + "text_zh": "观察：已检查视频 0.00–2.84 s，只有初始持球、发球机首发及蓝黄两球首次抛出，未出现第6次将黄球接入右手的后续交替循环；log step 176 最终文件独立回放在首发红球未接稳处结束，无 catch 事件。推断：前置 catch_5 未达到，本计数事件未发生。" + } + ] + }, + "catch_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 176, + "text_zh": "观察：已检查视频 0.00–2.84 s，只有初始持球、发球机首发及蓝黄两球首次抛出，未出现第7次将红球接入左手的后续交替循环；log step 176 最终文件独立回放在首发红球未接稳处结束，无 catch 事件。推断：前置 catch_6 未达到，本计数事件未发生。" + } + ] + }, + "catch_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 176, + "text_zh": "观察：已检查视频 0.00–2.84 s，只有初始持球、发球机首发及蓝黄两球首次抛出，未出现第8次将蓝球接入右手的后续交替循环；log step 176 最终文件独立回放在首发红球未接稳处结束，无 catch 事件。推断：前置 catch_7 未达到，本计数事件未发生。" + } + ] + }, + "catch_9": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 176, + "text_zh": "观察：已检查视频 0.00–2.84 s，只有初始持球、发球机首发及蓝黄两球首次抛出，未出现第9次将黄球接入左手的后续交替循环；log step 176 最终文件独立回放在首发红球未接稳处结束，无 catch 事件。推断：前置 catch_8 未达到，本计数事件未发生。" + } + ] + }, + "catch_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 176, + "text_zh": "观察：已检查视频 0.00–2.84 s，只有初始持球、发球机首发及蓝黄两球首次抛出，未出现第10次将红球接入右手的后续交替循环；log step 176 最终文件独立回放在首发红球未接稳处结束，无 catch 事件。推断：前置 catch_9 未达到，本计数事件未发生。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catches", + "value": null, + "unit": "次", + "threshold": 10, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "catch_1", + "t": 2.72, + "log_step": 176, + "where": "操作中", + "evidence_zh": "观察：视频 2.64–2.84 s 机器人左手迎接下落红球并下移，但红球未形成受控的随手运动。log step 176 保存并独立回放最终287行交付文件，裁判因红球“落到手上后未接住”结束回合；此前 log step 175 的前臂触球判负属于被替换的旧文件，不能用于本次断点。推断：本次首次未修复失败发生于 catch_1 的接球操作。" + }, + "unmet": { + "catch_1": false, + "catch_2": false, + "catch_3": false, + "catch_4": false, + "catch_5": false, + "catch_6": false, + "catch_7": false, + "catch_8": false, + "catch_9": false, + "catch_10": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 2.72, + "log_step": 176, + "evidence_zh": "观察：视频 2.68–2.84 s 红球已到机器人左手掌指附近，却未见手指将其包夹并稳定控制；log step 176 最终交付文件回放的裁判报告“a ball that came down on a hand was not caught”（ball_a），无有效接球事件。推断：这里未建立的是接球所需的稳定夹持接触，已有的回碰或短暂承托不能算抓住；没有证据表明本轮先完成抓握再丢失。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 176, + "t": 2.72, + "evidence_zh": "推断：视频 2.60–2.84 s 机器人左手到达红球下方并下移承接，仍未让球稳定夹持。log step 167 的接球脚本采用预测水平落点、向下缓冲和逐步合指，log step 170–176 连续修改追踪及缓冲控制后将最终版本保存；log step 176 对该交付文件的回放仍在同一首接球处失败，支持接球控制未能建立有效夹持。现有证据只能定位到控制层，不能确定具体控制子类。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有逐物理步状态或接触日志；25帧/秒全景及放大图不能分辨拇指与其他手指是否曾极短同时触球，无法进一步确定接球失败来自接触几何、合指时机还是末端跟踪。log step 176 含最终文件回放裁判事件，可核对失败类型；会话中其他版本的瞬时 held 读数不能用作本轮曾抓住的证据。评分器 reward 未直接报告 catches 数值，因此该原生指标留 null；stages_total=3 不作为10次接球计数。" + }, + "summary_zh": "本次交付回放中，机器人站立抛出蓝球和黄球，并用左手承接发球机送来的红球，但首个有效接球未完成，最终为0/10节点。断点在视频约 2.72 s 的第1次接球操作：红球到达掌指附近而稳定夹持未建立，最终交付文件的裁判回放记录与画面一致，根因归于接球控制。缺少逐物理步接触数据，无法确定具体控制子类，评分器也未直接给出 catches 数值。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频和日志一致：视频 2.84 s 内红球下落到左手附近，未见夹持；log step 176 对最终交付文件的独立回放报告 ball_a“落到手上后未接住”，无 catch 事件，10 个节点均为 false，断点 catch_1 正确。没建立接触与控制（不定子类）有证据支持，推断标注合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:43:20Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-privileged--dvv6qmc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-privileged--dvv6qmc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ca15f390dee19c2cdfb285521651823042f658b56910d0ed945ae40ec9fc6caa", + "video_sha256": "fd623b780f926ee248b65b66e61cac2f8930b2c9952d5b4d80f7494a5dc20a1c", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-privileged--kpvlwtj.json b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-privileged--kpvlwtj.json new file mode 100644 index 0000000000000000000000000000000000000000..3d4d663705a1ea41b93b4ec053def8f5b8035338 --- /dev/null +++ b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-privileged--kpvlwtj.json @@ -0,0 +1,312 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-juggle-three-i00-privileged--kpvlwtj", + "taskKey": "embodied-olympics-fun/juggle_three", + "dag_sha256": "6866d226deb20280211e64f8e3dd22d2e841dc997eece3315afe456bf7a5815b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 360, + "sim_steps": 296, + "horizon": 2000, + "episode_over": 1, + "progress": 0.0, + "stages_reached": 0, + "stages_total": 3, + "fell": 0, + "replay_s": 4.91, + "bad_trajectory": 0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 118, + "agent_resets": 0, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.047, + "peak_processes": 9, + "peak_disk_gb": 0.24, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-juggle-three-i00-privileged--kpvlwtj/replay.mp4", + "duration_s": 3.0, + "fps": 25.0, + "frames": 75, + "sha256": "0b66c92fc9392f09c52241523d928c61d0653cbfac2790c5a887c5d5b19d5c83" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "catch_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.72, + "log_step": 109, + "text_zh": "观察：视频0–1.92 s机器人保持站立，左手持蓝球、右手持黄球；视频2.00 s首发红球已离开发球机，视频2.68–2.80 s红球下降到左手附近后继续落到手下，没有随手受控运动，视频2.96 s红球已到地面。log step 109对最终交付文件的官方回放报告球触地、stages为空；log step 111确认最终文件恢复为同一已验证轨迹，第1次有效接球未完成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频2.68–2.80 s机器人左手迎接红球并合指，但红球继续落下；全景分辨率无法确认红球是否短暂擦碰指端，未见抓握形成，故不把接球动作记成实际抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频0–2.96 s机器人由双足支撑，在迎接首发红球时屈膝、调整身体，结束前仍站立。" + } + ] + }, + "catch_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 109, + "text_zh": "观察：视频0 s蓝球被机器人左手包持，视频2.04–2.28 s左手上扬放出蓝球；视频2.64–2.80 s蓝球从头旁下降到腰部附近，没有落入仍持黄球的右手，也没有出现蓝球随右手受控运动。推断：第1次接球未成立，蓝球本身也未被右手接住，第2次有效接球未完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频0–2.08 s机器人左手手指围住蓝球，随后张手抛出蓝球，开始准备后续右手接球；视频2.64–2.80 s蓝球下落，右手仍持黄球，未见右手抓住蓝球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频2.04–2.80 s机器人双脚支撑身体，左臂抛出蓝球时保持站立。" + } + ] + }, + "catch_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.96, + "log_step": 109, + "text_zh": "观察：视频0–2.96 s只见首发红球和左手抛出的蓝球飞行，黄球一直留在机器人右手，未出现连续交替接球；视频2.72–2.96 s红球从左手附近落地，回放结束。推断：第1次有效接球未完成且没有后续连续接球，按after顺序，第3次（黄球由左手接住）事件未发生。" + } + ] + }, + "catch_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.96, + "log_step": 109, + "text_zh": "观察：视频0–2.96 s只见首发红球和左手抛出的蓝球飞行，黄球一直留在机器人右手，未出现连续交替接球；视频2.72–2.96 s红球从左手附近落地，回放结束。推断：第1次有效接球未完成且没有后续连续接球，按after顺序，第4次（红球由右手接住）事件未发生。" + } + ] + }, + "catch_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.96, + "log_step": 109, + "text_zh": "观察：视频0–2.96 s只见首发红球和左手抛出的蓝球飞行，黄球一直留在机器人右手，未出现连续交替接球；视频2.72–2.96 s红球从左手附近落地，回放结束。推断：第1次有效接球未完成且没有后续连续接球，按after顺序，第5次（蓝球由左手接住）事件未发生。" + } + ] + }, + "catch_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.96, + "log_step": 109, + "text_zh": "观察：视频0–2.96 s只见首发红球和左手抛出的蓝球飞行，黄球一直留在机器人右手，未出现连续交替接球；视频2.72–2.96 s红球从左手附近落地，回放结束。推断：第1次有效接球未完成且没有后续连续接球，按after顺序，第6次（黄球由右手接住）事件未发生。" + } + ] + }, + "catch_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.96, + "log_step": 109, + "text_zh": "观察：视频0–2.96 s只见首发红球和左手抛出的蓝球飞行，黄球一直留在机器人右手，未出现连续交替接球；视频2.72–2.96 s红球从左手附近落地，回放结束。推断：第1次有效接球未完成且没有后续连续接球，按after顺序，第7次（红球由左手接住）事件未发生。" + } + ] + }, + "catch_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.96, + "log_step": 109, + "text_zh": "观察：视频0–2.96 s只见首发红球和左手抛出的蓝球飞行，黄球一直留在机器人右手，未出现连续交替接球；视频2.72–2.96 s红球从左手附近落地，回放结束。推断：第1次有效接球未完成且没有后续连续接球，按after顺序，第8次（蓝球由右手接住）事件未发生。" + } + ] + }, + "catch_9": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.96, + "log_step": 109, + "text_zh": "观察：视频0–2.96 s只见首发红球和左手抛出的蓝球飞行，黄球一直留在机器人右手，未出现连续交替接球；视频2.72–2.96 s红球从左手附近落地，回放结束。推断：第1次有效接球未完成且没有后续连续接球，按after顺序，第9次（黄球由左手接住）事件未发生。" + } + ] + }, + "catch_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.96, + "log_step": 109, + "text_zh": "观察：视频0–2.96 s只见首发红球和左手抛出的蓝球飞行，黄球一直留在机器人右手，未出现连续交替接球；视频2.72–2.96 s红球从左手附近落地，回放结束。推断：第1次有效接球未完成且没有后续连续接球，按after顺序，第10次（红球由右手接住）事件未发生。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catches", + "value": null, + "unit": "次", + "threshold": 10, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "catch_1", + "t": 2.72, + "log_step": 109, + "where": "操作中", + "evidence_zh": "观察：视频2.68–2.80 s机器人左手迎向下落红球并合指，红球却从手旁继续下落，视频2.96 s到达地面，之后没有修复机会；log step 109对交付文件的官方回放结果为“a ball touched the ground”。推断：失败发生在机器人正在完成的首个红球接球步骤，触地是结束事件。" + }, + "unmet": { + "catch_1": false, + "catch_2": false, + "catch_3": false, + "catch_4": false, + "catch_5": false, + "catch_6": false, + "catch_7": false, + "catch_8": false, + "catch_9": false, + "catch_10": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 2.72, + "log_step": null, + "evidence_zh": "观察：视频2.64–2.72 s红球接近机器人张开的左手，视频2.76 s左手已合拢，视频2.80–2.96 s红球仍从手下继续落地；左手没有在红球经过时将其夹住并带随运动。推断：机器人接球动作未与运动中的红球衔接，首发接球落空。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 2.72, + "log_step": 107, + "source_zh": "日志", + "evidence_zh": "观察：log step 107的最终生成脚本以球的位置、速度预测接近时刻，驱动左掌下移缓冲并按预测时刻合指；log step 108和111确认其生成的轨迹与官方回放验证的文件一致。视频2.68–2.80 s可见机器人执行迎球、合指动作，但红球未受控而继续下落。推断：目标是接住正确的红球，失败在末端运动与合指执行配合，归为控制；现有证据不能区分轨迹跟踪、接触几何或合指时刻的具体贡献。" + } + ], + "gap_zh": "没有逐物理步状态日志；25帧/秒的全景无法确认红球与指端有无瞬时擦碰，也不能逐步核对拇指和其他手指的同时接触。官方回放在log step 109给出metrics为空，未单独报告catches，因此原生指标value保留null；节点未完成依据红球落空及后续交替接球缺席判断。会话试验的met、clamp及后续摔倒不作为这段正式回放的事实；控制根因子类缺乏足够证据。" + }, + "summary_zh": "本次正式回放中，机器人抛出蓝球并用左手迎接发球机送来的红球，但视频约2.72 s首发接球落空，10个接球节点均未完成。红球在视频2.96 s落地结束回合，机器人仍站立；失败现象为动态时机，根因归为控制。缺少逐步接触与有效接球计数日志，无法确认指端瞬时接触及更细的控制子类。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频仅3 s：首发红球在约2.7 s落到左手下方并落地，蓝球抛出后未被右手接住，机器人仍站立；10个接球节点均未完成、断点catch_1、动态时机+控制的归因与帧和log step 109–111一致，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:38:30Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-privileged--kpvlwtj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-privileged--kpvlwtj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1d1a09d4fdd39b211b508b1d06ad34bf8f93a2587d45126482a4e259308ff906", + "video_sha256": "0b66c92fc9392f09c52241523d928c61d0653cbfac2790c5a887c5d5b19d5c83", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-privileged--ski7qny.json b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-privileged--ski7qny.json new file mode 100644 index 0000000000000000000000000000000000000000..6bbe1adf439e839cb3dbd58e35ad9e30e2bb6edf --- /dev/null +++ b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-privileged--ski7qny.json @@ -0,0 +1,502 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-juggle-three-i00-privileged--ski7qny", + "taskKey": "embodied-olympics-fun/juggle_three", + "dag_sha256": "6866d226deb20280211e64f8e3dd22d2e841dc997eece3315afe456bf7a5815b", + "outcome": { + "success": 0, + "reward": 0.6667, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 660, + "sim_steps": 660, + "horizon": 2000, + "episode_over": 0, + "progress": 0.6667, + "stages_reached": 2, + "stages_total": 3, + "fell": 0, + "replay_s": 10.62, + "bad_trajectory": 0, + "metric_catches": 9.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 130, + "agent_resets": 38, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-juggle-three-i00-privileged--ski7qny/replay.mp4", + "duration_s": 6.64, + "fps": 25.0, + "frames": 166, + "sha256": "0cce85cba47f363d2e59716cd09c815917a4ddc2f02208643854a330c81224f0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 9, + "final": 9, + "nodes": { + "catch_1": { + "method": "visual", + "intervals": [ + [ + 2.84, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.84, + "log_step": null, + "text_zh": "观察：视频 2.68–2.88 s，红球从空中落到机器人左手，手指围拢，随后球随该手受控运动；将第1次接球完成锚点记在视频约 2.84 s，后续再次抛球不撤销已完成事件。" + }, + { + "t": 2.84, + "log_step": 242, + "text_zh": "推断：log step 240 对交付文件启动两次独立回放，log step 242 的裁判事件按红、蓝、黄及左右手交替记到第9次，其中包含第1次（左手、红球）；评分器 metric_catches=9 且 deterministic=1，与上述视频动作顺序一致，支持本次为合格夹持而非仅掌托。到达时间取自已查看的视频帧，约有0.1秒量级误差；微小指面接触不能逐物理步看清。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左手手指围住红球并使其随手运动；结合本次裁判有效计数，判定夹持成立。对侧手参与别次抛接，不作为本次同时抓住该球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚接触垫面支撑身体，站立完成抛接。" + } + ] + }, + "catch_2": { + "method": "visual", + "intervals": [ + [ + 3.24, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.24, + "log_step": null, + "text_zh": "观察：视频 3.04–3.28 s，蓝球从空中落到机器人右手，手指围拢，随后球随该手受控运动；将第2次接球完成锚点记在视频约 3.24 s，后续再次抛球不撤销已完成事件。" + }, + { + "t": 3.24, + "log_step": 242, + "text_zh": "推断：log step 240 对交付文件启动两次独立回放，log step 242 的裁判事件按红、蓝、黄及左右手交替记到第9次，其中包含第2次（右手、蓝球）；评分器 metric_catches=9 且 deterministic=1，与上述视频动作顺序一致，支持本次为合格夹持而非仅掌托。到达时间取自已查看的视频帧，约有0.1秒量级误差；微小指面接触不能逐物理步看清。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右手手指围住蓝球并使其随手运动；结合本次裁判有效计数，判定夹持成立。对侧手参与别次抛接，不作为本次同时抓住该球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚接触垫面支撑身体，站立完成抛接。" + } + ] + }, + "catch_3": { + "method": "visual", + "intervals": [ + [ + 3.44, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.44, + "log_step": null, + "text_zh": "观察：视频 3.28–3.56 s，黄球从空中落到机器人左手，手指围拢，随后球随该手受控运动；将第3次接球完成锚点记在视频约 3.44 s，后续再次抛球不撤销已完成事件。" + }, + { + "t": 3.44, + "log_step": 242, + "text_zh": "推断：log step 240 对交付文件启动两次独立回放，log step 242 的裁判事件按红、蓝、黄及左右手交替记到第9次，其中包含第3次（左手、黄球）；评分器 metric_catches=9 且 deterministic=1，与上述视频动作顺序一致，支持本次为合格夹持而非仅掌托。到达时间取自已查看的视频帧，约有0.1秒量级误差；微小指面接触不能逐物理步看清。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左手手指围住黄球并使其随手运动；结合本次裁判有效计数，判定夹持成立。对侧手参与别次抛接，不作为本次同时抓住该球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚接触垫面支撑身体，站立完成抛接。" + } + ] + }, + "catch_4": { + "method": "visual", + "intervals": [ + [ + 4.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.0, + "log_step": null, + "text_zh": "观察：视频 3.80–4.16 s，红球从空中落到机器人右手，手指围拢，随后球随该手受控运动；将第4次接球完成锚点记在视频约 4.00 s，后续再次抛球不撤销已完成事件。" + }, + { + "t": 4.0, + "log_step": 242, + "text_zh": "推断：log step 240 对交付文件启动两次独立回放，log step 242 的裁判事件按红、蓝、黄及左右手交替记到第9次，其中包含第4次（右手、红球）；评分器 metric_catches=9 且 deterministic=1，与上述视频动作顺序一致，支持本次为合格夹持而非仅掌托。到达时间取自已查看的视频帧，约有0.1秒量级误差；微小指面接触不能逐物理步看清。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右手手指围住红球并使其随手运动；结合本次裁判有效计数，判定夹持成立。对侧手参与别次抛接，不作为本次同时抓住该球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚接触垫面支撑身体，站立完成抛接。" + } + ] + }, + "catch_5": { + "method": "visual", + "intervals": [ + [ + 4.52, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.52, + "log_step": null, + "text_zh": "观察：视频 4.36–4.56 s，蓝球从空中落到机器人左手，手指围拢，随后球随该手受控运动；将第5次接球完成锚点记在视频约 4.52 s，后续再次抛球不撤销已完成事件。" + }, + { + "t": 4.52, + "log_step": 242, + "text_zh": "推断：log step 240 对交付文件启动两次独立回放，log step 242 的裁判事件按红、蓝、黄及左右手交替记到第9次，其中包含第5次（左手、蓝球）；评分器 metric_catches=9 且 deterministic=1，与上述视频动作顺序一致，支持本次为合格夹持而非仅掌托。到达时间取自已查看的视频帧，约有0.1秒量级误差；微小指面接触不能逐物理步看清。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左手手指围住蓝球并使其随手运动；结合本次裁判有效计数，判定夹持成立。对侧手参与别次抛接，不作为本次同时抓住该球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚接触垫面支撑身体，站立完成抛接。" + } + ] + }, + "catch_6": { + "method": "visual", + "intervals": [ + [ + 4.96, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.96, + "log_step": null, + "text_zh": "观察：视频 4.76–5.04 s，黄球从空中落到机器人右手，手指围拢，随后球随该手受控运动；将第6次接球完成锚点记在视频约 4.96 s，后续再次抛球不撤销已完成事件。" + }, + { + "t": 4.96, + "log_step": 242, + "text_zh": "推断：log step 240 对交付文件启动两次独立回放，log step 242 的裁判事件按红、蓝、黄及左右手交替记到第9次，其中包含第6次（右手、黄球）；评分器 metric_catches=9 且 deterministic=1，与上述视频动作顺序一致，支持本次为合格夹持而非仅掌托。到达时间取自已查看的视频帧，约有0.1秒量级误差；微小指面接触不能逐物理步看清。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右手手指围住黄球并使其随手运动；结合本次裁判有效计数，判定夹持成立。对侧手参与别次抛接，不作为本次同时抓住该球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚接触垫面支撑身体，站立完成抛接。" + } + ] + }, + "catch_7": { + "method": "visual", + "intervals": [ + [ + 5.52, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.52, + "log_step": null, + "text_zh": "观察：视频 5.32–5.56 s，红球从空中落到机器人左手，手指围拢，随后球随该手受控运动；将第7次接球完成锚点记在视频约 5.52 s，后续再次抛球不撤销已完成事件。" + }, + { + "t": 5.52, + "log_step": 242, + "text_zh": "推断：log step 240 对交付文件启动两次独立回放，log step 242 的裁判事件按红、蓝、黄及左右手交替记到第9次，其中包含第7次（左手、红球）；评分器 metric_catches=9 且 deterministic=1，与上述视频动作顺序一致，支持本次为合格夹持而非仅掌托。到达时间取自已查看的视频帧，约有0.1秒量级误差；微小指面接触不能逐物理步看清。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左手手指围住红球并使其随手运动；结合本次裁判有效计数，判定夹持成立。对侧手参与别次抛接，不作为本次同时抓住该球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚接触垫面支撑身体，站立完成抛接。" + } + ] + }, + "catch_8": { + "method": "visual", + "intervals": [ + [ + 6.04, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.04, + "log_step": null, + "text_zh": "观察：视频 5.88–6.16 s，蓝球从空中落到机器人右手，手指围拢，随后球随该手受控运动；将第8次接球完成锚点记在视频约 6.04 s，后续再次抛球不撤销已完成事件。" + }, + { + "t": 6.04, + "log_step": 242, + "text_zh": "推断：log step 240 对交付文件启动两次独立回放，log step 242 的裁判事件按红、蓝、黄及左右手交替记到第9次，其中包含第8次（右手、蓝球）；评分器 metric_catches=9 且 deterministic=1，与上述视频动作顺序一致，支持本次为合格夹持而非仅掌托。到达时间取自已查看的视频帧，约有0.1秒量级误差；微小指面接触不能逐物理步看清。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人右手手指围住蓝球并使其随手运动；结合本次裁判有效计数，判定夹持成立。对侧手参与别次抛接，不作为本次同时抓住该球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚接触垫面支撑身体，站立完成抛接。" + } + ] + }, + "catch_9": { + "method": "visual", + "intervals": [ + [ + 6.52, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.52, + "log_step": null, + "text_zh": "观察：视频 6.32–6.60 s，黄球从空中落到机器人左手，手指围拢，随后球随该手受控运动；将第9次接球完成锚点记在视频约 6.52 s，后续再次抛球不撤销已完成事件。" + }, + { + "t": 6.52, + "log_step": 242, + "text_zh": "推断：log step 240 对交付文件启动两次独立回放，log step 242 的裁判事件按红、蓝、黄及左右手交替记到第9次，其中包含第9次（左手、黄球）；评分器 metric_catches=9 且 deterministic=1，与上述视频动作顺序一致，支持本次为合格夹持而非仅掌托。到达时间取自已查看的视频帧，约有0.1秒量级误差；微小指面接触不能逐物理步看清。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人左手手指围住黄球并使其随手运动；结合本次裁判有效计数，判定夹持成立。对侧手参与别次抛接，不作为本次同时抓住该球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚接触垫面支撑身体，站立完成抛接。" + } + ] + }, + "catch_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.36, + "log_step": null, + "text_zh": "观察：视频 6.20–6.36 s，机器人左手张开并放出红球；视频 6.36–6.60 s，红球向画面右侧远离双手并下落，右手仍持蓝球，未见红球落入右手并受控。末帧视频 6.60 s 仍无第10次接球。" + }, + { + "t": 6.6, + "log_step": 237, + "text_zh": "观察：log step 236 以 events_catch9via 方案保存到仿真 6.6 s；log step 237 对同一方案的诊断返回 catches=9、failed=null，红球仍为 flight、rise=0.091862389 米、met=null、clamp=null。log step 244 确认交付文件与 plan 的660行完全一致，终态哈希也与上述诊断相同；评分器 metric_catches=9，故第10次未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 6.20–6.36 s，机器人左手先夹持红球，随后张开放球以准备传向右手；本条抓握指抛出前左手持红球，右手未建立对红球的接球夹持。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人双脚在垫面支撑，末段准备红球抛接时仍站立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catches", + "value": 9.0, + "unit": "次", + "threshold": 10, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "catch_10", + "t": 6.36, + "log_step": 237, + "where": "操作中", + "evidence_zh": "观察：视频 6.28–6.60 s，机器人左手为下一次红球到右手的抛接放球，但红球低弧向外离开、随后下落，未被右手接回；黄球随后仍在左手接稳，前9次未被撤销。log step 237 的同方案诊断记录红球飞行上升量仅0.091862389米，评分器最终为9次有效接球；交付只包含660步，episode_over=0，并非会话后续试验中的碰肩或原手再碰判负。" + }, + "unmet": { + "catch_1": true, + "catch_2": true, + "catch_3": true, + "catch_4": true, + "catch_5": true, + "catch_6": true, + "catch_7": true, + "catch_8": true, + "catch_9": true, + "catch_10": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 6.36, + "log_step": 237, + "evidence_zh": "观察：视频 6.32–6.60 s，红球脱离机器人左手后向双手外侧飞走并降低，未形成此前抛接那样越过两手上方的高弧并落入右手；右手保持蓝球。log step 237 对已保存方案的诊断中，红球上升量为0.091862389米，低于0.30米要求，且尚无回碰或夹持；这里标的是红球抛出轨迹偏离，未把未见的落地或碰撞当作本次现象。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 6.36, + "log_step": 237, + "source_zh": "日志", + "evidence_zh": "推断：log step 236 保存 events_catch9via 到仿真6.6 s，log step 237 的同方案诊断显示红球仅上升0.091862389米，末端速度为[2.03870901,-0.74483307,-1.57999356]米/秒，终态哈希 a3195ae78fb462e34acf1e4d4300b27c019328916b869905a5786e3246ee16b5；log step 242、244 的交付回放及再生成结果保持该哈希和9次计数，且视频6.32–6.60 s确见红球向外低飞。说明交付的手臂与放球控制未产生合格的红球跨手抛接；log step 243 的笔记也承认后续红球弧线不足。现有证据不能进一步确定是指端释放时序、接触几何还是关节轨迹跟踪导致，保留在控制大类。" + } + ], + "gap_zh": "无逐帧状态日志；25 fps全景虽可见每次入手及随手运动，但不能独立分辨拇指与另两指的全部接触或连续0.05秒夹持，合格性结合交付文件的裁判回放及最终9次计数判断。视频止于6.60 s末帧，红球仍在飞行，未显示其后落地、碰撞或完整第10次接球动作；不能将会话其他测试的碰肩、原手再碰移入本次轨迹。日志的同方案诊断能确认低弧问题，但不足以细分控制根因。" + }, + "summary_zh": "交付轨迹按红、蓝、黄和左右手交替完成前9次有效接球，节点最终9/10；评分器原生阶段为2/3，接球计数为9。断点是第10次接球：视频约6.32 s左手放出的红球低弧向外飞走，右手未接回，同方案诊断显示其上升量仅约0.092米，归因为控制未形成合格抛接。视频结束前机器人仍站立，未见掉球触地或碰撞终止；无逐帧接触状态，夹持合格性依赖视频与裁判回放共同确认，控制子类无法确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "前9次接球节点、第10次断点与视频一致，红球低弧飞出右侧未被接回；现象与根因有视频和日志依据，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:44:01Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-privileged--ski7qny/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-privileged--ski7qny/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "cdb8c3d7882a74ebd990153393f899619893e02070b131cb80bde2ce95cdc83c", + "video_sha256": "0cce85cba47f363d2e59716cd09c815917a4ddc2f02208643854a330c81224f0", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-privileged--x7vapps.json b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-privileged--x7vapps.json new file mode 100644 index 0000000000000000000000000000000000000000..634d7d894129613b2e21b909cf5fdb3e94a2dae7 --- /dev/null +++ b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-privileged--x7vapps.json @@ -0,0 +1,284 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-juggle-three-i00-privileged--x7vapps", + "taskKey": "embodied-olympics-fun/juggle_three", + "dag_sha256": "6866d226deb20280211e64f8e3dd22d2e841dc997eece3315afe456bf7a5815b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 283, + "sim_steps": 283, + "horizon": 2000, + "episode_over": 0, + "progress": 0.0, + "stages_reached": 0, + "stages_total": 3, + "fell": 0, + "replay_s": 5.62, + "bad_trajectory": 0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 377, + "agent_resets": 1215, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.118, + "peak_processes": 9, + "peak_disk_gb": 0.294, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-juggle-three-i00-privileged--x7vapps/replay.mp4", + "duration_s": 2.84, + "fps": 25.0, + "frames": 71, + "sha256": "ddfba14044fb3fc0e32175dea0901aee1c25001385e71b92f878e81ce46a4e31" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "catch_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 16, + "text_zh": "观察：视频 0.00–2.80 s，机器人保持双手各持一球的初始站姿，左手的蓝球未抛出，机器人没有张手、迎球或合手接红球的动作；log step 16 的保存脚本仅重复283次初始stand指令，log step 17 确认保存283行。" + }, + { + "t": 2.8, + "log_step": 22, + "text_zh": "观察：视频 2.00–2.80 s，发球机抛出的红球升起后落至仍持蓝球的左手附近，再向躯干侧移去，未见红球被夹住随手受控运动；log step 22 对交付文件的回放结果为stages=[]、steps=283、episode_over=false，只有launch事件，没有catch事件。" + } + ] + }, + "catch_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 22, + "text_zh": "观察：视频 0.00–2.80 s，蓝球、黄球始终留在机器人初始两手中，仅发球机红球有空中飞行；未出现第2次右手接蓝球及相应的连续交替抛接。log step 22 的交付回放记录没有任何catch事件，首个阶段也未达到。" + } + ] + }, + "catch_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 22, + "text_zh": "观察：视频 0.00–2.80 s，蓝球、黄球始终留在机器人初始两手中，仅发球机红球有空中飞行；未出现第3次左手接黄球及相应的连续交替抛接。log step 22 的交付回放记录没有任何catch事件，首个阶段也未达到。" + } + ] + }, + "catch_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 22, + "text_zh": "观察：视频 0.00–2.80 s，蓝球、黄球始终留在机器人初始两手中，仅发球机红球有空中飞行；未出现第4次右手接红球及相应的连续交替抛接。log step 22 的交付回放记录没有任何catch事件，首个阶段也未达到。" + } + ] + }, + "catch_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 22, + "text_zh": "观察：视频 0.00–2.80 s，蓝球、黄球始终留在机器人初始两手中，仅发球机红球有空中飞行；未出现第5次左手接蓝球及相应的连续交替抛接。log step 22 的交付回放记录没有任何catch事件，首个阶段也未达到。" + } + ] + }, + "catch_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 22, + "text_zh": "观察：视频 0.00–2.80 s，蓝球、黄球始终留在机器人初始两手中，仅发球机红球有空中飞行；未出现第6次右手接黄球及相应的连续交替抛接。log step 22 的交付回放记录没有任何catch事件，首个阶段也未达到。" + } + ] + }, + "catch_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 22, + "text_zh": "观察：视频 0.00–2.80 s，蓝球、黄球始终留在机器人初始两手中，仅发球机红球有空中飞行；未出现第7次左手接红球及相应的连续交替抛接。log step 22 的交付回放记录没有任何catch事件，首个阶段也未达到。" + } + ] + }, + "catch_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 22, + "text_zh": "观察：视频 0.00–2.80 s，蓝球、黄球始终留在机器人初始两手中，仅发球机红球有空中飞行；未出现第8次右手接蓝球及相应的连续交替抛接。log step 22 的交付回放记录没有任何catch事件，首个阶段也未达到。" + } + ] + }, + "catch_9": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 22, + "text_zh": "观察：视频 0.00–2.80 s，蓝球、黄球始终留在机器人初始两手中，仅发球机红球有空中飞行；未出现第9次左手接黄球及相应的连续交替抛接。log step 22 的交付回放记录没有任何catch事件，首个阶段也未达到。" + } + ] + }, + "catch_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 22, + "text_zh": "观察：视频 0.00–2.80 s，蓝球、黄球始终留在机器人初始两手中，仅发球机红球有空中飞行；未出现第10次右手接红球及相应的连续交替抛接。log step 22 的交付回放记录没有任何catch事件，首个阶段也未达到。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catches", + "value": null, + "unit": "次", + "threshold": 10, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "catch_1", + "t": 0.0, + "log_step": 16, + "where": "首步前", + "evidence_zh": "观察：视频 0.00–2.80 s，机器人一直维持持蓝、黄两球的初始站姿，没有启动腾出左手并接首发红球的动作。log step 16–17 保存并确认283行原地stand基线，log step 19 的生成脚本相同；log step 22 验收该文件时无catch事件、stages=[]、episode_over=false，与评分器n_actions=283、stages_reached=0及视频相符。" + }, + "unmet": { + "catch_1": false, + "catch_2": false, + "catch_3": false, + "catch_4": false, + "catch_5": false, + "catch_6": false, + "catch_7": false, + "catch_8": false, + "catch_9": false, + "catch_10": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": 16, + "evidence_zh": "观察：视频 0.00–2.80 s 的机器人未抛出左手蓝球，也没有张手或调整手臂接红球；只有发球机自动发球。log step 16 保存的是重复初始stand指令的基线，log step 20 的交付备注也称其为站立等待首发球的baseline；首次有效接球的操作始终未启动。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志，25 fps远景不能分辨红球在视频 2.68–2.80 s 附近的细小接触，但交付回放log step 22明确没有有效接球。log step 15和26的基线延长测试在仿真 2.835 s记录飞球碰左上臂判负，该时刻已超出交付的283个控制步，不能作为本次判负事件；本次评分器episode_over=0。后续log step 1095和1103的另行测试报告3次接球，画面中的交付基线并无这些动作，不能计入节点；日志没有解释为何未更新交付文件，故不足以确定具体认知、控制或交付操作根因。评分器reward未单独报告catches数值，native_metrics保留null。" + }, + "summary_zh": "本次交付仅包含283步初始站姿保持，视频 0.00–2.80 s中机器人未抛出手中蓝、黄球，也未接稳发球机红球，10个接球节点均未达到，断点为第1次接球的首步前，现象为没尝试。log step 22确认交付回放没有catch事件且回合尚未结束；后续会话测试虽报告接球进展，却未体现在交付视频中，保留基线的具体根因缺乏证据。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "标注与证据相符：交付轨迹为283步初始站姿，视频 0–2.84 s 机器人未抛球也未接红球（红球在约2.0 s后出现并飞过左手附近），10个节点均为未达成，评分器 stages_reached=0；断点 catch_1 首步前 + 没尝试成立。根因留空并写明缺口，符合 DECISIONS 的规则（不能从没尝试或缺交付反推根因，超时不算原因）。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:44:08Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-privileged--x7vapps/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-privileged--x7vapps/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9269cb600de86ac3a99099764e78b7a7c58fafe0835771d8bd9be534555d80e0", + "video_sha256": "ddfba14044fb3fc0e32175dea0901aee1c25001385e71b92f878e81ce46a4e31", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-privileged--z73anqf.json b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-privileged--z73anqf.json new file mode 100644 index 0000000000000000000000000000000000000000..a9f95df43b1b049718e1a7cfdc00c9310fb4ee4e --- /dev/null +++ b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-privileged--z73anqf.json @@ -0,0 +1,305 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-juggle-three-i00-privileged--z73anqf", + "taskKey": "embodied-olympics-fun/juggle_three", + "dag_sha256": "6866d226deb20280211e64f8e3dd22d2e841dc997eece3315afe456bf7a5815b", + "outcome": { + "success": 0, + "reward": 0.3333, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 325, + "sim_steps": 325, + "horizon": 2000, + "episode_over": 0, + "progress": 0.3333, + "stages_reached": 1, + "stages_total": 3, + "fell": 0, + "replay_s": 6.91, + "bad_trajectory": 0, + "metric_catches": 1.0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 372, + "agent_resets": 427, + "agent_replays": 3, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 2.794, + "peak_processes": 10, + "peak_disk_gb": 0.841, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-juggle-three-i00-privileged--z73anqf/replay.mp4", + "duration_s": 3.28, + "fps": 25.0, + "frames": 82, + "sha256": "3aab3164648006064400138cb7a1e975adfb1c25d8990d41a56e2e84dd7c05ca" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "catch_1": { + "method": "visual", + "intervals": [ + [ + 2.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.6, + "log_step": 435, + "text_zh": "观察：视频 2.32–2.64 s，发球机送出的红球靠近抬高的左手，随后停在左手指间；视频 2.64–3.24 s 红球保持在左手处，机器人双脚站立。log step 435 对所交付325行动作的重新生成与回放记录报告 first catch、catches=1、红球由左手接住；最终评分 metric_catches=1，与画面一致。接球时刻取视频约2.6 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约2.6 s，机器人左手手指围住红球，红球随后留在左手；log step 435 的交付回放裁判确认有效夹持接球。左手此前调整原持蓝球的位置以腾出红球接球空间。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频0–3.24 s，机器人双脚接地，站立支撑抬臂接球。" + } + ] + }, + "catch_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.24, + "log_step": 438, + "text_zh": "观察：视频2.64–3.24 s，蓝球仍在抬高的左手处，红球也停留在该手，右手仍持黄球；没有蓝球离开左手并到达右手的抛接。log step 438 展示的交付生成器只执行325行站立、抬左臂和夹持调整，未包含接球后的抛蓝球动作；最终评分 metric_catches=1。" + } + ] + }, + "catch_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.24, + "log_step": 456, + "text_zh": "观察：本次完整视频0–3.24 s 只见发球机红球进入左手，末段两手继续持球，没有第3次所需的黄球飞入左手动作。log step 456 对最终交付文件的两次独立回放均报告 catches=1，最终评分 metric_catches=1。推断：按有效接球计数及顺序前置，第3次接球未达成。" + } + ] + }, + "catch_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.24, + "log_step": 456, + "text_zh": "观察：本次完整视频0–3.24 s 只见发球机红球进入左手，末段两手继续持球，没有第4次所需的红球飞入右手动作。log step 456 对最终交付文件的两次独立回放均报告 catches=1，最终评分 metric_catches=1。推断：按有效接球计数及顺序前置，第4次接球未达成。" + } + ] + }, + "catch_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.24, + "log_step": 456, + "text_zh": "观察：本次完整视频0–3.24 s 只见发球机红球进入左手，末段两手继续持球，没有第5次所需的蓝球飞入左手动作。log step 456 对最终交付文件的两次独立回放均报告 catches=1，最终评分 metric_catches=1。推断：按有效接球计数及顺序前置，第5次接球未达成。" + } + ] + }, + "catch_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.24, + "log_step": 456, + "text_zh": "观察：本次完整视频0–3.24 s 只见发球机红球进入左手，末段两手继续持球，没有第6次所需的黄球飞入右手动作。log step 456 对最终交付文件的两次独立回放均报告 catches=1，最终评分 metric_catches=1。推断：按有效接球计数及顺序前置，第6次接球未达成。" + } + ] + }, + "catch_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.24, + "log_step": 456, + "text_zh": "观察：本次完整视频0–3.24 s 只见发球机红球进入左手，末段两手继续持球，没有第7次所需的红球飞入左手动作。log step 456 对最终交付文件的两次独立回放均报告 catches=1，最终评分 metric_catches=1。推断：按有效接球计数及顺序前置，第7次接球未达成。" + } + ] + }, + "catch_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.24, + "log_step": 456, + "text_zh": "观察：本次完整视频0–3.24 s 只见发球机红球进入左手，末段两手继续持球，没有第8次所需的蓝球飞入右手动作。log step 456 对最终交付文件的两次独立回放均报告 catches=1，最终评分 metric_catches=1。推断：按有效接球计数及顺序前置，第8次接球未达成。" + } + ] + }, + "catch_9": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.24, + "log_step": 456, + "text_zh": "观察：本次完整视频0–3.24 s 只见发球机红球进入左手，末段两手继续持球，没有第9次所需的黄球飞入左手动作。log step 456 对最终交付文件的两次独立回放均报告 catches=1，最终评分 metric_catches=1。推断：按有效接球计数及顺序前置，第9次接球未达成。" + } + ] + }, + "catch_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.24, + "log_step": 456, + "text_zh": "观察：本次完整视频0–3.24 s 只见发球机红球进入左手，末段两手继续持球，没有第10次所需的红球飞入右手动作。log step 456 对最终交付文件的两次独立回放均报告 catches=1，最终评分 metric_catches=1。推断：按有效接球计数及顺序前置，第10次接球未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catches", + "value": 1.0, + "unit": "次", + "threshold": 10, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "catch_2", + "t": null, + "log_step": 438, + "where": "首步前", + "evidence_zh": "观察：视频约2.6 s 完成红球首接后，机器人一直维持抬左手姿态至视频3.24 s，蓝球没有被抛向右手。log step 438 的最终生成器仅保存325行首接前缀；log step 456 的交付回放结果为catches=1、failed=null、episode_over=false。推断：第二次接球的抛接工作未启动，交付停在该步之前，没有可定位的碰撞或失手时刻。" + }, + "unmet": { + "catch_1": true, + "catch_2": false, + "catch_3": false, + "catch_4": false, + "catch_5": false, + "catch_6": false, + "catch_7": false, + "catch_8": false, + "catch_9": false, + "catch_10": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 3.0, + "log_step": 438, + "evidence_zh": "观察：视频2.64–3.24 s，机器人左手保持红球和蓝球所在姿态，右手继续持黄球，没有执行抛蓝球及右手接蓝球。log step 438 所示交付生成器在首接后维持原目标姿态，随后结束保存；会话内的后续甩臂测试未进入该交付轨迹。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 434, + "source_zh": "日志", + "evidence_zh": "推断：agent 未能形成可用的后续抛球控制动作，因而只交付首接前缀。依据是会话测试输出（log steps 333–335）：多组甩臂命令的蓝球上升量仅0–0.025 m、接球计数仍为1，部分测试被原手再触球判负；agent 在log step 434 自述更强肩部运动仍抛高不足、较快版本会提前释放红球，并明确保留首接前缀，log step 438 的实际生成器印证了该选择。这些测试只用于解释未能延长交付，不作为本次视频中的物理失败；证据不足以细分控制子类。" + } + ], + "gap_zh": "无逐帧状态日志；全景视频不能分辨拇指与食指的每个微小接触及0.05秒夹持，首接有效性由交付回放裁判与最终接球计数补证。第二次抛接未进入交付，无法从本次视频判断其具体失手方式；控制根因来自会话测试，尚不能区分接触设计、轨迹或反馈控制。" + }, + "summary_zh": "本次交付在视频约2.6 s 完成红球进入左手的第1次有效接球，最终为1/10节点，原生接球计数为1。交付随后维持持球姿态，第二次抛接未启动，断在catch_2首步前；会话测试显示后续蓝球抛高不足等控制困难，agent 因此保留首接前缀。无逐帧状态日志，细小夹持由裁判结果补证，具体控制子类仍不确定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "catch_1 在视频约2.6 s（sim 2.595 s，log step 435 回放事件）达成，catch_2–10 未达，断点 catch_2 / 首步前 / 没尝试；根因“控制”来自会话仿真测试数据（log 333–335 的上升量≤0.025 m），并遵循 FAIL-22，无需修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:43:10Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-privileged--z73anqf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-privileged--z73anqf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a019b51a2db17f8a123a92df58fa7f41cf44564185a9dd41bb3fc3f6792ad66b", + "video_sha256": "3aab3164648006064400138cb7a1e975adfb1c25d8990d41a56e2e84dd7c05ca", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard--dcwz4ks.json b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard--dcwz4ks.json new file mode 100644 index 0000000000000000000000000000000000000000..2c6d822df9471f6c9728348d001a17bcbc482350 --- /dev/null +++ b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard--dcwz4ks.json @@ -0,0 +1,328 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-juggle-three-i00-standard--dcwz4ks", + "taskKey": "embodied-olympics-fun/juggle_three", + "dag_sha256": "6866d226deb20280211e64f8e3dd22d2e841dc997eece3315afe456bf7a5815b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 291, + "sim_steps": 12968, + "calls": 111, + "rows": 12684, + "resets": 50, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 4029.0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.283, + "peak_processes": 12, + "peak_disk_gb": 2.595, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-juggle-three-i00-standard--dcwz4ks/replay.mp4", + "duration_s": 2.92, + "fps": 25.0, + "frames": 73, + "sha256": "11afb75984e6fe56106b3ea5d588c59438b3ea7d23ac796cf3e0e31c8b48f80f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "catch_1": { + "method": "visual", + "intervals": [ + [ + 2.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.8, + "log_step": 669, + "text_zh": "观察：视频 2.64–2.72 s 红球从发球机方向下落到机器人左手，视频 2.76–2.88 s 红球停留在合拢的左手内并随手移动，持续超过0.05秒；log step 669 的最后一次 reset 后执行结果为 stages_reached=1/3。推断：首次有效接球约在视频 2.8 s 完成，时间误差约0.08秒；这里的服务阶段数不是十个 DAG 节点的分母。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 2.72–2.88 s 机器人左手三指围住红球，红球随左手受控移动；微小指面接触无法从全景逐物理步分辨。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚落地支撑，接红球期间保持站立。" + } + ] + }, + "catch_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.64, + "log_step": 669, + "text_zh": "观察：视频 2.28–2.60 s 机器人左手抬起并放出蓝球，蓝球仅在左手上方短暂飞行；视频 2.64–2.88 s 蓝球从左手下方继续落向地面，没有移到右手或被右手夹住。log step 669 报告最后一轮在仿真 2.91 s 因 a ball touched the ground 结束；视频末尾与该结束事件一致。第2次有效接球未发生。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左手原先包住蓝球，视频 2.28–2.60 s 抬手放球；右手回到承接姿势，但未见右手夹住蓝球。记录的是抛接准备中的实际左手抓握，不把右手空接记为抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人在抛蓝球和准备右手接球时双脚持续支撑身体。" + } + ] + }, + "catch_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.88, + "log_step": 664, + "text_zh": "观察：视频 2.56–2.88 s 机器人右手仍带着黄球抬动，视频 2.88 s 黄球离开右手向下，未形成黄球到左手的飞行与夹持；本轮在此后立即结束。log step 664 的最终脚本为右手安排黄球抛出动作，但视频没有第3次有效接球，第2次接球前置也未达到。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人右手在视频 2.56–2.84 s 围住黄球并抬动，随后放出；未见左手接住黄球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：准备抛出黄球时机器人双脚支撑，未摔倒。" + } + ] + }, + "catch_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.88, + "log_step": 669, + "text_zh": "观察：完整视频 0.00–2.88 s 只有首次红球入左手后保持的过程，没有后续红、蓝、黄交替接住的循环；视频末尾蓝球已落到脚边，log step 669 确认本轮因球触地终止。推断：第4次有效接球未发生，前置接球事件尚未完成。" + } + ] + }, + "catch_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.88, + "log_step": 669, + "text_zh": "观察：完整视频 0.00–2.88 s 只有首次红球入左手后保持的过程，没有后续红、蓝、黄交替接住的循环；视频末尾蓝球已落到脚边，log step 669 确认本轮因球触地终止。推断：第5次有效接球未发生，前置接球事件尚未完成。" + } + ] + }, + "catch_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.88, + "log_step": 669, + "text_zh": "观察：完整视频 0.00–2.88 s 只有首次红球入左手后保持的过程，没有后续红、蓝、黄交替接住的循环；视频末尾蓝球已落到脚边，log step 669 确认本轮因球触地终止。推断：第6次有效接球未发生，前置接球事件尚未完成。" + } + ] + }, + "catch_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.88, + "log_step": 669, + "text_zh": "观察：完整视频 0.00–2.88 s 只有首次红球入左手后保持的过程，没有后续红、蓝、黄交替接住的循环；视频末尾蓝球已落到脚边，log step 669 确认本轮因球触地终止。推断：第7次有效接球未发生，前置接球事件尚未完成。" + } + ] + }, + "catch_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.88, + "log_step": 669, + "text_zh": "观察：完整视频 0.00–2.88 s 只有首次红球入左手后保持的过程，没有后续红、蓝、黄交替接住的循环；视频末尾蓝球已落到脚边，log step 669 确认本轮因球触地终止。推断：第8次有效接球未发生，前置接球事件尚未完成。" + } + ] + }, + "catch_9": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.88, + "log_step": 669, + "text_zh": "观察：完整视频 0.00–2.88 s 只有首次红球入左手后保持的过程，没有后续红、蓝、黄交替接住的循环；视频末尾蓝球已落到脚边，log step 669 确认本轮因球触地终止。推断：第9次有效接球未发生，前置接球事件尚未完成。" + } + ] + }, + "catch_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.88, + "log_step": 669, + "text_zh": "观察：完整视频 0.00–2.88 s 只有首次红球入左手后保持的过程，没有后续红、蓝、黄交替接住的循环；视频末尾蓝球已落到脚边，log step 669 确认本轮因球触地终止。推断：第10次有效接球未发生，前置接球事件尚未完成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catches", + "value": null, + "unit": "次", + "threshold": 10, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "catch_2", + "t": 2.6, + "log_step": 669, + "where": "操作中", + "evidence_zh": "观察：视频 2.36–2.60 s 蓝球在放球左手附近短暂飞行，视频 2.64 s 已低于两手，右手没有跟上并夹住蓝球；视频 2.88 s 蓝球到达脚边，log step 669 报告仿真 2.91 s 因球触地判负。推断：机器人为第2次接球进行的蓝球抛接最先失效且没有修复，首次红球接住不能修复这一步。" + }, + "unmet": { + "catch_1": true, + "catch_2": false, + "catch_3": false, + "catch_4": false, + "catch_5": false, + "catch_6": false, + "catch_7": false, + "catch_8": false, + "catch_9": false, + "catch_10": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 2.6, + "log_step": 669, + "evidence_zh": "观察：视频 2.60–2.88 s 蓝球沿机器人左侧下落，右手保持在另一侧，未及时到达蓝球的下降路径并承接；机器人站立，红球仍在左手，蓝球最终落地。推断：动态抛接未衔接，接球手没有跟上运动中的蓝球。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 664 的最终脚本预先生成关节与手指闭合序列，并以一次 submit 执行；其中右手被安排返回接球姿势并闭合。log step 669 确认执行的是该脚本；视频 2.36–2.88 s 蓝球实际未到右手且持续下落。推断：该关节与放球、接球控制序列未实现预期的跨手抛接；没有证据支持进一步确定是指面接触、出手速度、轨迹跟踪还是闭合参数中的哪一项。" + } + ], + "gap_zh": "观察：inputs/ 没有状态日志，最后一轮服务结果只给 stages_reached=1/3 和触地判负，没有直接报告原生 catches 数值，所以 native_metrics.catches 留空。全景视频可辨认红球随手保持、蓝球落地及黄球放出，但不能逐物理步核实拇指与食指/中指接触或精确夹持起点；首次接球时刻为视觉估计。最终脚本在 log step 664 的中段被输入记录截断，且缺少本轮逐步手部力与球速度记录，因此控制根因不细分；会话中其他 reset 的成功接触或失败均不计入本轮进度。" + }, + "summary_zh": "评分轮完成首次红球左手接住，十个接球节点最终达到1个；蓝球未飞到右手而沿左侧下落，第2次接球在视频约 2.6 s 失效，随后球触地结束本轮。视频与 log step 669 的最后一轮结果一致，支持动态抛接衔接失败及控制层归因。缺少状态日志和原生接球计数，微小夹持接触与控制子原因无法精确核实。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标注与视频和 log step 669 的最终结果基本一致：红球被左手接住，蓝球未到右手而落地，断点 catch_2、动态时机与控制归因均有证据支持，未发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:43:49Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard--dcwz4ks/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard--dcwz4ks/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e3eb40583fa3c3f3a42211b9e553f988f4a518da52d10a008d22e83449b4ce43", + "video_sha256": "11afb75984e6fe56106b3ea5d588c59438b3ea7d23ac796cf3e0e31c8b48f80f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard--m4fpocq.json b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard--m4fpocq.json new file mode 100644 index 0000000000000000000000000000000000000000..e543c1f20dd52fb6235a9e92fbfc160be511c15c --- /dev/null +++ b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard--m4fpocq.json @@ -0,0 +1,306 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-juggle-three-i00-standard--m4fpocq", + "taskKey": "embodied-olympics-fun/juggle_three", + "dag_sha256": "6866d226deb20280211e64f8e3dd22d2e841dc997eece3315afe456bf7a5815b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 284, + "sim_steps": 284, + "calls": 5, + "rows": 284, + "resets": 0, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 287.2, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.117, + "peak_processes": 10, + "peak_disk_gb": 0.414, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-juggle-three-i00-standard--m4fpocq/replay.mp4", + "duration_s": 2.88, + "fps": 25.0, + "frames": 72, + "sha256": "281cf6f3a54b512c8c7fab5a7f42f918b1b3779af1f407ddd253b7b2dfab28cb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "catch_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.72, + "log_step": 17, + "text_zh": "观察：视频 0.00–2.84 s，机器人左手一直握着蓝球、右手持黄球；视频 2.64–2.84 s，首发红球下降到仍持蓝球的左手附近，未见红球被手指夹住并随手受控运动。整个评分视频没有先抛蓝球、再接住红球的动作。" + }, + { + "t": null, + "log_step": 17, + "text_zh": "观察：log step 17 通过现场机器人服务 Robot.submit 执行用于观察发球的轨迹：保持初始手指闭合指令，只在预设控制序列后段增大左肩外展角；log step 18 也明确称其为观测轨迹。该服务直接推进评分局，后续 LocalJuggleSim 的接球结果属于自建模拟器测试。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 2.12–2.84 s，机器人左手在外摆观测动作中仍以手指围握原有蓝球；这是实际持球接触，不是抓住首发红球。红球与各指或掌面的瞬时接触细节无法从全景分辨。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–2.84 s，机器人以双脚支撑地面站立，观测发球时未见摔倒。" + } + ] + }, + "catch_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": null, + "text_zh": "推断：视频 0.00–2.84 s，蓝球始终未离开左手、黄球始终未离开右手，且首发红球未被夹住；未出现后续交替抛接。第1次有效接球未成立，因此依 DAG 的顺序前置条件，第2次（右手接蓝球）也未达到；并非仅由 success=0 推定。" + } + ] + }, + "catch_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": null, + "text_zh": "推断：视频 0.00–2.84 s，蓝球始终未离开左手、黄球始终未离开右手，且首发红球未被夹住；未出现后续交替抛接。第1次有效接球未成立，因此依 DAG 的顺序前置条件，第3次（左手接黄球）也未达到；并非仅由 success=0 推定。" + } + ] + }, + "catch_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": null, + "text_zh": "推断：视频 0.00–2.84 s，蓝球始终未离开左手、黄球始终未离开右手，且首发红球未被夹住；未出现后续交替抛接。第1次有效接球未成立，因此依 DAG 的顺序前置条件，第4次（右手接红球）也未达到；并非仅由 success=0 推定。" + } + ] + }, + "catch_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": null, + "text_zh": "推断：视频 0.00–2.84 s，蓝球始终未离开左手、黄球始终未离开右手，且首发红球未被夹住；未出现后续交替抛接。第1次有效接球未成立，因此依 DAG 的顺序前置条件，第5次（左手接蓝球）也未达到；并非仅由 success=0 推定。" + } + ] + }, + "catch_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": null, + "text_zh": "推断：视频 0.00–2.84 s，蓝球始终未离开左手、黄球始终未离开右手，且首发红球未被夹住；未出现后续交替抛接。第1次有效接球未成立，因此依 DAG 的顺序前置条件，第6次（右手接黄球）也未达到；并非仅由 success=0 推定。" + } + ] + }, + "catch_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": null, + "text_zh": "推断：视频 0.00–2.84 s，蓝球始终未离开左手、黄球始终未离开右手，且首发红球未被夹住；未出现后续交替抛接。第1次有效接球未成立，因此依 DAG 的顺序前置条件，第7次（左手接红球）也未达到；并非仅由 success=0 推定。" + } + ] + }, + "catch_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": null, + "text_zh": "推断：视频 0.00–2.84 s，蓝球始终未离开左手、黄球始终未离开右手，且首发红球未被夹住；未出现后续交替抛接。第1次有效接球未成立，因此依 DAG 的顺序前置条件，第8次（右手接蓝球）也未达到；并非仅由 success=0 推定。" + } + ] + }, + "catch_9": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": null, + "text_zh": "推断：视频 0.00–2.84 s，蓝球始终未离开左手、黄球始终未离开右手，且首发红球未被夹住；未出现后续交替抛接。第1次有效接球未成立，因此依 DAG 的顺序前置条件，第9次（左手接黄球）也未达到；并非仅由 success=0 推定。" + } + ] + }, + "catch_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": null, + "text_zh": "推断：视频 0.00–2.84 s，蓝球始终未离开左手、黄球始终未离开右手，且首发红球未被夹住；未出现后续交替抛接。第1次有效接球未成立，因此依 DAG 的顺序前置条件，第10次（右手接红球）也未达到；并非仅由 success=0 推定。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catches", + "value": null, + "unit": "次", + "threshold": 10, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "catch_1", + "t": 2.72, + "log_step": 17, + "where": "探索", + "evidence_zh": "观察：视频 2.64–2.84 s，首发红球落到左手附近，而左手仍握蓝球，没有开始抛蓝接红的动作；log step 17 的现场服务脚本只为观察球路而外摆左肩，log step 18 称其为观测轨迹。该探索发生在评分局中，第1次接球始终未完成。" + }, + "unmet": { + "catch_1": false, + "catch_2": false, + "catch_3": false, + "catch_4": false, + "catch_5": false, + "catch_6": false, + "catch_7": false, + "catch_8": false, + "catch_9": false, + "catch_10": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 2.72, + "log_step": 17, + "evidence_zh": "观察：视频 0.00–2.84 s 中，机器人保持蓝球、黄球在原手内，没有抛出蓝球腾空左手，也没有对下落红球张合手指夹接；log step 17 提交的是观察首发球路的动作，未包含接球控制。这里标注评分局没有启动第1次接球，不把后续本地测试中的接球失败移入本局。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "t": null, + "log_step": 17, + "source_zh": "日志", + "evidence_zh": "推断：log step 17 在直接推进现场评分局的 Robot.submit 中执行纯观测球路的序列，保留双手初始持球及闭合指令，只改变左肩角度，没有安排首接所需的抛蓝球与接红球；视频 2.12–2.84 s 与该序列一致。log step 51 起转入 LocalJuggleSim 自建模拟器调试，直至 log step 197 仍为本地测试；评分器字段 resets=0、n_actions=284，未用重启后的现场抛接替换观测局。探索与正式抛接的阶段安排使本次被评分的轨迹停留在首接之前，而不是接球控制轨迹执行失准。" + } + ], + "gap_zh": "没有状态日志；inputs/run.json 的评分字段没有原生 catches 数值，也未保留这次现场服务最终的具体判负条款。全景中视频 2.72–2.84 s 的红球与蓝球、手指局部重叠，无法确定逐指接触、是否碰到其他身体部位或具体终止原因；不采用 log step 51 自建模拟器复刻给出的判负原因代替本次现场事实。节点未完成可由没有抛蓝接红的完整过程判断，原生 catches 指标按未报告保留 null。" + }, + "summary_zh": "评分视频中机器人只进行了首发球路观测，左手一直持蓝球、右手持黄球，10个有效接球节点均未完成。断点是探索阶段的第1次接球：现场序列未安排抛蓝接红，后续自建模拟器中的抛接优化未进入该评分局。缺少现场原生接球计数与具体判负记录，且末段手部重叠，不能确定瞬时接触或终止条款。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频只有2.88 s，机器人全程左手持蓝球、右手持黄球，末段红球落到左手旁，10个接球节点均未达成，与标注一致；log step 17 是评分局唯一一次 submit（resets=0，n_actions=284），把观测轨迹当作评分局，断点、没尝试、推理/规划的归因有日志和视频支持，缺口说明也诚实。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:40:38Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard--m4fpocq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard--m4fpocq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "34d21faa9dffd7398160fdd2a0175c31c75daa3923859296e792e8e0501569db", + "video_sha256": "281cf6f3a54b512c8c7fab5a7f42f918b1b3779af1f407ddd253b7b2dfab28cb", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard--nxp8zaj.json b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard--nxp8zaj.json new file mode 100644 index 0000000000000000000000000000000000000000..7c766d8029cdf24f8d4537f6efc08f553db14852 --- /dev/null +++ b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard--nxp8zaj.json @@ -0,0 +1,353 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-juggle-three-i00-standard--nxp8zaj", + "taskKey": "embodied-olympics-fun/juggle_three", + "dag_sha256": "6866d226deb20280211e64f8e3dd22d2e841dc997eece3315afe456bf7a5815b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 288, + "sim_steps": 1697, + "calls": 12, + "rows": 1697, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 6740.1, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 2.095, + "peak_processes": 12, + "peak_disk_gb": 2.528, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-juggle-three-i00-standard--nxp8zaj/replay.mp4", + "duration_s": 2.92, + "fps": 25.0, + "frames": 73, + "sha256": "21eb07e81e949e51833b884a4fdccc4979ff3d9fc87fbcbaf8fda972f5eef748" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "catch_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.68, + "log_step": 155, + "text_zh": "观察：视频2.60–2.76 s，首发红球下降经过机器人左手外侧，未见左手夹住红球并使其随手运动；视频2.80–2.88 s，红球已落到左手下方且继续下降。log step 155最后一次重置后的服务返回failed、outcome=\"a ball that came down on a hand was not caught\"、stages_reached=0，与首接失败相符。" + }, + { + "t": 2.88, + "log_step": 157, + "text_zh": "观察：视频2.52–2.88 s蓝球仍位于机器人左手并随手升降，没有出现蓝球跨手飞行；agent在log step 157自述蓝球已干净抛出，与画面不符，本标注采用视频。成功参考视频2.64–2.96 s可见红球进入空出的左手后随手运动；本次没有这一可见结果，参考仅用于辨认达成外观。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频2.68–2.76 s红球与机器人左手边缘近接，随后落下；log step 155服务判定来球碰手后未被接住。全景无法分清具体接触的是掌面还是哪根手指，以及瞬时碰触的方式，不记为红球抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频0.00–2.88 s机器人双脚着地支撑身体，首接尝试中保持站立。" + } + ] + }, + "catch_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.88, + "log_step": 155, + "text_zh": "观察：视频2.32–2.88 s机器人左臂带蓝球下沉、上提并回收，蓝球仍随左手运动，没有飞向右手并被右手接住。log step 155脚本为蓝球安排首次左手抛球，但回合在首发红球未接住后结束，未达第2次有效接球。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频2.32–2.88 s机器人左手手指围住蓝球，球随手完成下沉、上提和回收；这是第2次接球之前的抛蓝球准备及尝试，未观察到成功释放或右手接蓝球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频2.32–2.88 s机器人双脚着地，支撑抛蓝球准备动作。" + } + ] + }, + "catch_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.88, + "log_step": 155, + "text_zh": "观察：视频2.68–2.88 s机器人右手持黄球下沉再抬起，回合结束前未见黄球离手飞向左手或被左手接住；log step 155脚本安排右手随后抛黄球，但服务在首接失败时已结束回合，第3次接球未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频2.68–2.88 s机器人右手手指围住黄球并随臂下沉、抬起，是后续抛黄球的准备动作；未发生左手接黄球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频2.68–2.88 s机器人双脚着地支撑持黄球的摆臂准备。" + } + ] + }, + "catch_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.88, + "log_step": 155, + "text_zh": "观察：视频0.00–2.88 s只出现首发红球飞来后从左手旁落下的过程，没有连续交替接球；末帧红球在下落，蓝球和黄球仍分别随左、右手运动。log step 155服务判首接失败并结束回合；推断：第1次接球未达成，第4次右手接红球的计数事件及其前置接球序列均未发生。" + } + ] + }, + "catch_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.88, + "log_step": 155, + "text_zh": "观察：视频0.00–2.88 s只出现首发红球飞来后从左手旁落下的过程，没有连续交替接球；末帧红球在下落，蓝球和黄球仍分别随左、右手运动。log step 155服务判首接失败并结束回合；推断：第1次接球未达成，第5次左手接蓝球的计数事件及其前置接球序列均未发生。" + } + ] + }, + "catch_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.88, + "log_step": 155, + "text_zh": "观察：视频0.00–2.88 s只出现首发红球飞来后从左手旁落下的过程，没有连续交替接球；末帧红球在下落，蓝球和黄球仍分别随左、右手运动。log step 155服务判首接失败并结束回合；推断：第1次接球未达成，第6次右手接黄球的计数事件及其前置接球序列均未发生。" + } + ] + }, + "catch_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.88, + "log_step": 155, + "text_zh": "观察：视频0.00–2.88 s只出现首发红球飞来后从左手旁落下的过程，没有连续交替接球；末帧红球在下落，蓝球和黄球仍分别随左、右手运动。log step 155服务判首接失败并结束回合；推断：第1次接球未达成，第7次左手接红球的计数事件及其前置接球序列均未发生。" + } + ] + }, + "catch_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.88, + "log_step": 155, + "text_zh": "观察：视频0.00–2.88 s只出现首发红球飞来后从左手旁落下的过程，没有连续交替接球；末帧红球在下落，蓝球和黄球仍分别随左、右手运动。log step 155服务判首接失败并结束回合；推断：第1次接球未达成，第8次右手接蓝球的计数事件及其前置接球序列均未发生。" + } + ] + }, + "catch_9": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.88, + "log_step": 155, + "text_zh": "观察：视频0.00–2.88 s只出现首发红球飞来后从左手旁落下的过程，没有连续交替接球；末帧红球在下落，蓝球和黄球仍分别随左、右手运动。log step 155服务判首接失败并结束回合；推断：第1次接球未达成，第9次左手接黄球的计数事件及其前置接球序列均未发生。" + } + ] + }, + "catch_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.88, + "log_step": 155, + "text_zh": "观察：视频0.00–2.88 s只出现首发红球飞来后从左手旁落下的过程，没有连续交替接球；末帧红球在下落，蓝球和黄球仍分别随左、右手运动。log step 155服务判首接失败并结束回合；推断：第1次接球未达成，第10次右手接红球的计数事件及其前置接球序列均未发生。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catches", + "value": null, + "unit": "次", + "threshold": 10, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "catch_1", + "t": 2.72, + "log_step": 155, + "where": "操作中", + "evidence_zh": "观察：视频2.68–2.76 s，机器人左手在首发红球到达时升起再回收，红球未被夹住；视频2.80–2.88 s红球从左手下方继续落下，蓝球仍在左手。log step 155最后一次重置后的服务记录回合失败，原因是来球碰手后未被接住，之后没有恢复该次接球。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 2.72, + "log_step": 155, + "evidence_zh": "观察：视频2.68–2.88 s红球经过机器人左手后落到手下方，从未表现为被手指夹住并随左手受控运动；log step 155服务也报告来球碰手后未接住。这里缺少的是接球所需的夹持接触，短暂碰手不等于已经握住后再丢失。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "alt_feasible": "未知", + "source_zh": "日志 / 视频", + "evidence_zh": "观察：视频2.60–2.88 s，机器人左手仍持蓝球并随臂升降，首发红球从该手旁经过后落下，没有出现左手空出并夹住红球的结果。log step 155提交脚本包含先抛蓝球再接红球的动作安排，服务返回reason=\"failed\"、outcome=\"a ball that came down on a hand was not caught\"、stages_reached=0。推断：抛蓝球的释放动作未实现预期效果，红球到达时左手仍被蓝球占用，导致首接失败；现有证据不能区分释放时序、轨迹执行、手指控制等具体子因，按docs/03_trajectory.md Step 3.3停在控制大类，不认定空手承接的手形或接触几何不适配。agent在log step 157关于蓝球已干净抛出、现场球更弹或控制增益不同的自述未作为已证实原因，替代方案可行性仍未知。" + } + ], + "gap_zh": "没有状态日志或逐物理步接触对，25帧/秒全景不能核实红球具体碰到的手部连杆、瞬时双指接触或精确夹持时长，也不能排除蓝球曾有极短暂脱离后回到同手；因此不细分夹持力或参数失配原因。run.json评分字段未报告原生catches，故该指标保留null；服务stages_reached=0仅作首接失败的辅助证据。agent在log step 157关于蓝球已干净抛出的自述与视频不一致，未用于节点赋值。", + "unmet": { + "catch_1": false, + "catch_2": false, + "catch_3": false, + "catch_4": false, + "catch_5": false, + "catch_6": false, + "catch_7": false, + "catch_8": false, + "catch_9": false, + "catch_10": false + } + }, + "summary_zh": "评分回合未完成第1次有效接球，10个接球节点最终均未达成；机器人仅完成持球摆臂及首发红球的承接尝试。视频2.60–2.88 s蓝球仍随左手运动，红球从该手旁落下，断点为第1次接球；推断抛蓝球的释放未实现预期效果，左手未空出承接红球，根因归为控制，具体子类证据不足。缺少逐步接触日志及原生catches字段，微小接触和具体力控原因无法核实，agent关于蓝球已抛出的自述未获视频支持。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值（catch_1–10 均未达成）、断点 catch_1、时钟和 contact_actual 与视频一致。问题在根因：视频 2.60–2.88 s 左手仍握着蓝球，红球落在手旁，说明左手没有空出，而不是空手承接的手形设计不适配；'抓取和接触设计' 缺乏证据，应退回控制大类。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点全部未达成、断点catch_1、控制根因均与视频及log step 155一致；视频2.6 s红球在左手上方、2.88 s红球落到手下方而蓝球仍在左手，与标注相符。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:50:11Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard--nxp8zaj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard--nxp8zaj/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard--nxp8zaj/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard--nxp8zaj/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e6de161a3763ebf310b2352d457f5f35e15dcf2cba508ab0e52c1b891f99566a", + "video_sha256": "21eb07e81e949e51833b884a4fdccc4979ff3d9fc87fbcbaf8fda972f5eef748", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard--o3q76jw.json b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard--o3q76jw.json new file mode 100644 index 0000000000000000000000000000000000000000..424eed6b3a0f9dad6f18a51fce58bf8adbdb4937 --- /dev/null +++ b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard--o3q76jw.json @@ -0,0 +1,328 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-juggle-three-i00-standard--o3q76jw", + "taskKey": "embodied-olympics-fun/juggle_three", + "dag_sha256": "6866d226deb20280211e64f8e3dd22d2e841dc997eece3315afe456bf7a5815b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 281, + "sim_steps": 14475, + "calls": 398, + "rows": 2947, + "resets": 50, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 3805.3, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-juggle-three-i00-standard--o3q76jw/replay.mp4", + "duration_s": 2.84, + "fps": 25.0, + "frames": 71, + "sha256": "dd429fe023a28b27afa128b1a9bbad370516bb9a0a3b1143d4c969639e7ce4bb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "catch_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.68, + "log_step": null, + "text_zh": "观察：视频 2.64–2.72 s，发球机送出的红球下降到机器人左手掌指区域；视频 2.76–2.80 s，红球从指侧向下离开，未见球随左手受控运动。机器人全程保持站立。" + }, + { + "t": 2.8, + "log_step": 218, + "text_zh": "观察：log step 217 启动最终控制器；log step 218 的服务返回对应最终 episode 51，仿真 2.81 s 时 done=True，outcome 为“a ball that came down on a hand was not caught”，stages_reached=0，holding_left=0。此结果与视频末尾红球脱离左手一致，首发接球未完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "托/舀", + "note_zh": "观察：视频 2.64–2.76 s，机器人左手从下方承接红球，球短暂触及掌指区域后离开；未形成可确认的对向夹持，不标抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–2.80 s，机器人双脚支撑地面，站立完成抛球和迎接红球动作。" + } + ] + }, + "catch_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.24, + "log_step": null, + "text_zh": "观察：视频 2.00–2.24 s，机器人左手将蓝球向上抛出，随后蓝球仍在空中；截至视频 2.80 s，未见蓝球到达右手并被夹持。这里只进行了第2次接球所需的抛球准备，首发红球也未接成，节点未达到。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 0.00–2.00 s，蓝球由机器人左手合拢的手指包持；视频 2.04–2.24 s，左手打开并上抛蓝球。这是该次蓝球接球的准备，未发生右手接住蓝球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 2.00–2.24 s，机器人双脚在地面支撑身体进行蓝球上抛。" + } + ] + }, + "catch_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.64, + "log_step": null, + "text_zh": "观察：视频 2.48–2.64 s，机器人右手将原持有的黄球抛向空中；截至视频 2.80 s，黄球仍在飞行，未见左手接住。这里只进行了黄球接球的抛球准备，前两次接球亦未完成，节点未达到。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 0.00–2.48 s，黄球由机器人右手合拢的手指包持；视频 2.48–2.64 s，右手上抛并释放黄球。这是该次黄球接球的准备，未发生左手接住黄球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 2.48–2.64 s，机器人双脚站立支撑身体进行黄球上抛。" + } + ] + }, + "catch_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 218, + "text_zh": "推断：视频 0.00–2.80 s 仅见机器人抛出初始蓝、黄球并尝试迎接首发红球，末尾红球离手；未出现第4次所需的红球由右手再次接住，也未开始相应重复动作。log step 218 的最终回合服务结果为红球回碰手后未接稳并终止，前置接球序列未完成，故此节点未达到。" + } + ] + }, + "catch_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 218, + "text_zh": "推断：视频 0.00–2.80 s 仅见机器人抛出初始蓝、黄球并尝试迎接首发红球，末尾红球离手；未出现第5次所需的蓝球由左手再次接住，也未开始相应重复动作。log step 218 的最终回合服务结果为红球回碰手后未接稳并终止，前置接球序列未完成，故此节点未达到。" + } + ] + }, + "catch_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 218, + "text_zh": "推断：视频 0.00–2.80 s 仅见机器人抛出初始蓝、黄球并尝试迎接首发红球，末尾红球离手；未出现第6次所需的黄球由右手再次接住，也未开始相应重复动作。log step 218 的最终回合服务结果为红球回碰手后未接稳并终止，前置接球序列未完成，故此节点未达到。" + } + ] + }, + "catch_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 218, + "text_zh": "推断：视频 0.00–2.80 s 仅见机器人抛出初始蓝、黄球并尝试迎接首发红球，末尾红球离手；未出现第7次所需的红球由左手再次接住，也未开始相应重复动作。log step 218 的最终回合服务结果为红球回碰手后未接稳并终止，前置接球序列未完成，故此节点未达到。" + } + ] + }, + "catch_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 218, + "text_zh": "推断：视频 0.00–2.80 s 仅见机器人抛出初始蓝、黄球并尝试迎接首发红球，末尾红球离手；未出现第8次所需的蓝球由右手再次接住，也未开始相应重复动作。log step 218 的最终回合服务结果为红球回碰手后未接稳并终止，前置接球序列未完成，故此节点未达到。" + } + ] + }, + "catch_9": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 218, + "text_zh": "推断：视频 0.00–2.80 s 仅见机器人抛出初始蓝、黄球并尝试迎接首发红球，末尾红球离手；未出现第9次所需的黄球由左手再次接住，也未开始相应重复动作。log step 218 的最终回合服务结果为红球回碰手后未接稳并终止，前置接球序列未完成，故此节点未达到。" + } + ] + }, + "catch_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 218, + "text_zh": "推断：视频 0.00–2.80 s 仅见机器人抛出初始蓝、黄球并尝试迎接首发红球，末尾红球离手；未出现第10次所需的红球由右手再次接住，也未开始相应重复动作。log step 218 的最终回合服务结果为红球回碰手后未接稳并终止，前置接球序列未完成，故此节点未达到。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catches", + "unit": "次", + "threshold": 10, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "catch_1", + "t": 2.72, + "log_step": 218, + "where": "操作中", + "evidence_zh": "观察：视频 2.64–2.80 s，机器人左手迎接下落红球，红球到达掌指区域后从指侧下落，没有随手受控运动。log step 218 的最终 episode 51 服务裁判返回“a ball that came down on a hand was not caught”并结束回合；失败发生在第1次接球，尚未完成任何合格接球。" + }, + "unmet": { + "catch_1": false, + "catch_2": false, + "catch_3": false, + "catch_4": false, + "catch_5": false, + "catch_6": false, + "catch_7": false, + "catch_8": false, + "catch_9": false, + "catch_10": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 2.72, + "log_step": 218, + "evidence_zh": "观察：视频 2.68–2.80 s，红球虽与机器人左手掌指区域短暂相遇，却从指侧向下离开；log step 218 的服务读数 holding_left 始终为0，裁判报回碰手后未接稳。缺少的是接球要求的拇指与手指对向夹持接触，未见已经抓稳后再失去的过程。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：视频 2.64–2.80 s 显示机器人左手已迎到红球下方，但未将接触转为稳定夹持；log step 218 的最终回合在仿真 2.72 s 和 2.81 s 均报告 holding_left=0，而 hand_closure_left 分别约0.998和1.000，随后服务裁判报未接稳。控制器执行了接球及闭手动作，仍未建立所需抓持，支持控制层归因；现有证据不足以进一步区分接触几何、闭手时机或跟踪问题。" + } + ], + "gap_zh": "无逐物理步状态或接触日志；场地全景可见红球触及左手后离开，但不能逐指核实拇指、食指和中指的接触及时长。log step 222 中 agent 关于“拇指未接触”的总结不能替代最终回合的逐指测量，因此根因仅标控制。run.json 的 reward 未报告原生 catches 数值，最终服务仅报告 stages_reached=0/3，不能把该阶段数当作接球次数，native_metrics.catches 留空。" + }, + "summary_zh": "评分视频对应最终 episode 51：机器人先后抛出初始蓝球和黄球作后续接球准备，但首发红球到达左手后从指侧落下，十个接球节点均未完成。断点为第1次接球的操作中，现象是未建立接球所需的夹持接触；服务裁判的未接稳判定及闭手但无持球的读数支持控制层归因。缺少逐指接触日志，无法确认具体接触几何或闭手时机问题。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频仅2.84 s，对应最终 episode 51；红球到左手后离开、服务裁判 stages_reached=0，10个接球节点均未达、断点 catch_1 操作中、现象与根因均有日志与帧支持，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:48:23Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard--o3q76jw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard--o3q76jw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c691f948add19219ac722daeba142c2e275f4e56235bf1427dd959ac6a44ec44", + "video_sha256": "dd429fe023a28b27afa128b1a9bbad370516bb9a0a3b1143d4c969639e7ce4bb", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard--qfbr4gk.json b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard--qfbr4gk.json new file mode 100644 index 0000000000000000000000000000000000000000..3c098301da11ec06a267b12ee224ba10f4b358be --- /dev/null +++ b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard--qfbr4gk.json @@ -0,0 +1,391 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-juggle-three-i00-standard--qfbr4gk", + "taskKey": "embodied-olympics-fun/juggle_three", + "dag_sha256": "6866d226deb20280211e64f8e3dd22d2e841dc997eece3315afe456bf7a5815b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 449, + "sim_steps": 12993, + "calls": 836, + "rows": 12532, + "resets": 36, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 7452.0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.557, + "peak_processes": 10, + "peak_disk_gb": 1.674, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-juggle-three-i00-standard--qfbr4gk/replay.mp4", + "duration_s": 4.52, + "fps": 25.0, + "frames": 113, + "sha256": "6535cd3aa9ecdd83b9bdd2729a6431e1bde33d3703fea7869d2f364b71d9e26d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "catch_1": { + "method": "visual", + "intervals": [ + [ + 2.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.8, + "log_step": null, + "text_zh": "观察：视频 2.60–2.80 s 红球从空中落入机器人左手，手指合拢；视频 2.80–3.28 s 红球随左手受控下沉再上移，视频 3.36 s 才再次离手。首发红球的高弧飞行见视频 2.00–2.68 s；据此判断第1次接球完成，时间约为视频 2.80 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左手合拢手指包住红球，球随该手受控移动；对侧手的先行抛球不记为同时双手抓球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚着地，支撑站立抛接。" + } + ] + }, + "catch_2": { + "method": "visual", + "intervals": [ + [ + 3.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.2, + "log_step": null, + "text_zh": "观察：视频 2.40–2.44 s 蓝球离开机器人左手并上升，视频 2.60–2.88 s 位于两手上方；视频 3.08–3.20 s 蓝球落入右手并被手指包住，视频 3.20–3.68 s 随右手下沉而未脱离，随后再抛出。第2次接球时间约为视频 3.20 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人右手合拢手指包住蓝球，球随该手受控移动；对侧手的先行抛球不记为同时双手抓球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚着地，支撑站立抛接。" + } + ] + }, + "catch_3": { + "method": "visual", + "intervals": [ + [ + 3.64, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.64, + "log_step": null, + "text_zh": "观察：视频 2.88–3.48 s 黄球在空中上升后下降，视频 3.56–3.64 s 落入机器人左手并被合拢的手指包住；视频 3.64–4.12 s 黄球随左手移动，至视频 4.16 s 才再次抛出。第3次接球时间约为视频 3.64 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左手合拢手指包住黄球，球随该手受控移动；对侧手的先行抛球不记为同时双手抓球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚着地，支撑站立抛接。" + } + ] + }, + "catch_4": { + "method": "visual", + "intervals": [ + [ + 4.04, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.04, + "log_step": null, + "text_zh": "观察：视频 3.36 s 红球从机器人左手重新抛出，经两手上方高弧飞行，于视频 3.92–4.04 s 落入右手并被合拢的手指包住；视频 4.04–4.48 s 红球一直随右手受控移动。第4次接球时间约为视频 4.04 s；后续下沉动作不撤销这一计数事件。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人右手合拢手指包住红球，球随该手受控移动；对侧手的先行抛球不记为同时双手抓球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚着地，支撑站立抛接。" + } + ] + }, + "catch_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.48, + "log_step": 206, + "text_zh": "观察：视频 3.76–3.84 s 蓝球从右手抛出；视频 4.28–4.48 s 左手抬起等待，蓝球却从该手内侧落向头部，视频 4.48 s 蓝球与头部轮廓重合，左手仍空着。未出现第5次蓝球入左手并随手运动的接球事件。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人准备以左手接蓝球时，双脚仍在地面支撑身体。" + }, + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "推断：候选名称“被动碰撞”；视频 4.40–4.48 s 蓝球向机器人头部下落并在末帧与头部重合，推断触及头部。此处不是抓握、托举、推扫或承重支撑，故用其他；没有状态接触对可核对。" + } + ] + }, + "catch_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.48, + "log_step": 206, + "text_zh": "观察：视频 4.00–4.12 s 机器人左手持黄球下沉，视频 4.16–4.28 s 将黄球抛出；视频 4.48 s 黄球仍在空中，右手仍持红球，没有第6次右手接黄球。此前第5次接球也未完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左手夹住黄球下沉后抛出，完成这次接球所需的前置抛球动作；没有观察到右手接住黄球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚着地，支撑左手抛出黄球的动作。" + } + ] + }, + "catch_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.48, + "log_step": 206, + "text_zh": "观察：视频 4.28–4.48 s 机器人右手仍夹红球向腰部下沉；log step 206 的最终控制脚本安排右手下沉后再抛球。视频结束前未见红球再次离手，更没有第7次左手接红球，第5、6次接球也未完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 4.28–4.48 s 右手夹持红球下沉，结合 log step 206 判断为下一次抛红球的准备动作；未出现再次抛出或左手接回。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚支撑右手持红球下沉的动作。" + } + ] + }, + "catch_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.48, + "log_step": null, + "text_zh": "观察：完整视频 0.00–4.48 s 只出现红、蓝、黄、红四次球入对侧手并受控运动；末段蓝球未被左手接住，黄球仍在空中，红球仍在右手。没有第8次接球，所需前序接球也未完成。" + } + ] + }, + "catch_9": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.48, + "log_step": null, + "text_zh": "观察：完整视频 0.00–4.48 s 只出现红、蓝、黄、红四次球入对侧手并受控运动；末段蓝球未被左手接住，黄球仍在空中，红球仍在右手。没有第9次接球，所需前序接球也未完成。" + } + ] + }, + "catch_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.48, + "log_step": null, + "text_zh": "观察：完整视频 0.00–4.48 s 只出现红、蓝、黄、红四次球入对侧手并受控运动；末段蓝球未被左手接住，黄球仍在空中，红球仍在右手。没有第10次接球，所需前序接球也未完成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catches", + "value": null, + "unit": "次", + "threshold": 10, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "catch_5", + "t": 4.48, + "log_step": 206, + "where": "操作中", + "evidence_zh": "观察：视频 4.04 s 前已完成四次交替接球；视频 4.28–4.48 s 机器人正抬起左手迎接蓝球，但蓝球在左手内侧降至头部，左手未夹住蓝球，随后视频结束。log step 206 是最后一次重置后执行的最终控制脚本，此前各调试回合不计入本次进度。" + }, + "unmet": { + "catch_1": true, + "catch_2": true, + "catch_3": true, + "catch_4": true, + "catch_5": false, + "catch_6": false, + "catch_7": false, + "catch_8": false, + "catch_9": false, + "catch_10": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 4.48, + "log_step": 206, + "evidence_zh": "观察：视频 4.28–4.48 s 蓝球下降时，机器人左手抬在头部外侧，未跟上球的下落路径；蓝球越过接球高度并落到头部位置，左手一直空着。这是运动中目标的拦接失败。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 206 的最终脚本在重放既有动作后，把左手用 blendpath 移至固定目标 [0.62, 0.20, 1.25] 并持续闭指；该末段循环没有按蓝球观测更新目标。同时视频 4.28–4.48 s 显示左手与实际下降蓝球分离，蓝球落向头部，支持抛接控制未匹配飞球路径。缺少本回合末段球和手的三维轨迹，无法进一步确定是目标估计、逆解跟踪还是释放偏差，故停留在控制层级。", + "source_zh": "日志、视频" + } + ], + "gap_zh": "无状态日志，25 fps 全景画面无法逐物理步核对拇指与手指接触及连续0.05秒夹持；前四次完成依据球入手后持续受控运动及随后主动抛出，时间为视觉近似。最终回合 log step 206 未返回裁判细项或有效接球计数，reward 仅报告失败，故 native_metrics.catches 保留 null；不能用此前重置回合的计数替代。视频 4.48 s 蓝球与头部重合支持碰头推断，但无接触对和具体判负字段，不能精确确认终止所用的犯规条款或细分控制根因。" + }, + "summary_zh": "评分回合完成红球入左手、蓝球入右手、黄球入左手及红球入右手四次交替接球，最终进度为4/10；后续抛球准备不算完成接球。视频 4.28–4.48 s 第5次接蓝球时左手未截住飞球，蓝球降至头部，断点为 catch_5，现象为动态时机，结合最终脚本推断为控制未匹配飞球路径。缺少本回合原生接球计数和逐帧接触日志，四次接球时刻及末尾碰头为视觉判断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "四次接球（视频约2.8/3.2/3.64/4.04 s）与第5次蓝球落向头部、断点catch_5均与帧一致；未发现需改的节点、时间、断点或根因问题。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:45:24Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ 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"limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.53, + "peak_processes": 14, + "peak_disk_gb": 2.065, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-juggle-three-i00-standard--s5zr3wj/replay.mp4", + "duration_s": 2.88, + "fps": 25.0, + "frames": 72, + "sha256": "2487aae93e82ded3238c3ab106c1cf49a320ed5e3c7989130cdd65278af8fb7d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "catch_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.72, + "log_step": null, + "text_zh": "观察：视频 2.20–2.52 s，机器人左臂上摆，蓝球离开左手向上飞行，随后左手回落承接发球机送来的红球；视频 2.68–2.84 s，红球下降到左掌附近，继而向手掌内侧、靠近身体的方向滑离，没有随左手受控运动。" + }, + { + "t": 2.84, + "log_step": 256, + "text_zh": "观察：log step 256 明确执行最后一次现场尝试，服务返回 outcome=\"a ball that came down on a hand was not caught\"、stages=0/3、reason=failed；log step 258 确认 episode=51、done=True、control_steps=285、resets_left=0。该末次尝试的抛蓝球、回手接红球动作与视频一致，未完成第1次有效接球。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "托/舀", + "note_zh": "观察：视频 2.72 s 左手掌和手指从下方承接红球，随后红球向掌内侧滑离；未见拇指与其余手指合拢夹住红球，不能标为抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0–2.84 s，机器人双脚着地支撑身体，站立完成抛球和左手接球尝试。" + } + ] + }, + "catch_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 256, + "text_zh": "推断：视频 0–2.84 s 只显示腾空初始蓝球及首次承接红球，红球在视频 2.72–2.84 s 未被夹持接稳；log step 256 的最终服务结果也报告落手后未接住。第1次有效接球未完成，故依序发生的第2次蓝球有效接球未达到。" + } + ] + }, + "catch_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 256, + "text_zh": "推断：视频 0–2.84 s 只显示腾空初始蓝球及首次承接红球，红球在视频 2.72–2.84 s 未被夹持接稳；log step 256 的最终服务结果也报告落手后未接住。第1次有效接球未完成，故依序发生的第3次黄球有效接球未达到。" + } + ] + }, + "catch_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 256, + "text_zh": "推断：视频 0–2.84 s 只显示腾空初始蓝球及首次承接红球，红球在视频 2.72–2.84 s 未被夹持接稳；log step 256 的最终服务结果也报告落手后未接住。第1次有效接球未完成，故依序发生的第4次红球有效接球未达到。" + } + ] + }, + "catch_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 256, + "text_zh": "推断：视频 0–2.84 s 只显示腾空初始蓝球及首次承接红球，红球在视频 2.72–2.84 s 未被夹持接稳；log step 256 的最终服务结果也报告落手后未接住。第1次有效接球未完成，故依序发生的第5次蓝球有效接球未达到。" + } + ] + }, + "catch_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 256, + "text_zh": "推断：视频 0–2.84 s 只显示腾空初始蓝球及首次承接红球，红球在视频 2.72–2.84 s 未被夹持接稳；log step 256 的最终服务结果也报告落手后未接住。第1次有效接球未完成，故依序发生的第6次黄球有效接球未达到。" + } + ] + }, + "catch_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 256, + "text_zh": "推断：视频 0–2.84 s 只显示腾空初始蓝球及首次承接红球，红球在视频 2.72–2.84 s 未被夹持接稳；log step 256 的最终服务结果也报告落手后未接住。第1次有效接球未完成，故依序发生的第7次红球有效接球未达到。" + } + ] + }, + "catch_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 256, + "text_zh": "推断：视频 0–2.84 s 只显示腾空初始蓝球及首次承接红球，红球在视频 2.72–2.84 s 未被夹持接稳；log step 256 的最终服务结果也报告落手后未接住。第1次有效接球未完成，故依序发生的第8次蓝球有效接球未达到。" + } + ] + }, + "catch_9": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 256, + "text_zh": "推断：视频 0–2.84 s 只显示腾空初始蓝球及首次承接红球，红球在视频 2.72–2.84 s 未被夹持接稳；log step 256 的最终服务结果也报告落手后未接住。第1次有效接球未完成，故依序发生的第9次黄球有效接球未达到。" + } + ] + }, + "catch_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 256, + "text_zh": "推断：视频 0–2.84 s 只显示腾空初始蓝球及首次承接红球，红球在视频 2.72–2.84 s 未被夹持接稳；log step 256 的最终服务结果也报告落手后未接住。第1次有效接球未完成，故依序发生的第10次红球有效接球未达到。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catches", + "value": null, + "unit": "次", + "threshold": 10, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "catch_1", + "t": 2.72, + "log_step": 256, + "where": "操作中", + "evidence_zh": "观察：视频 2.68–2.84 s，机器人左手承接下落红球，红球触及掌指区域后向内侧滑离，没有被夹住；log step 256 的最后一次现场运行由裁判以“a ball that came down on a hand was not caught”判负。失败发生在第1次接球操作中，之后没有修复。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 2.72, + "log_step": 256, + "evidence_zh": "观察：视频 2.72–2.84 s 红球只到达左掌及手指附近，随后向掌内侧滑离，没有形成可见的合手夹持；log step 256 的服务判定红球落手后未接住。这里缺少的是接球所需的拇指与手指夹持接触，不能把短暂掌托当成已抓住后丢失。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 256 将接球姿态改为 waist_pitch=-0.104、left_shoulder_pitch=0.046，并执行预定闭手起点为仿真 2.63 s 的脚本；视频 2.68–2.84 s 可见红球确实到达左手，但手指没有将其夹住，反而让球滑离。接球的手部位姿与闭合动作未能建立有效夹持，支持控制层归因；现有证据不足以单独确定为接触几何、闭合时序或反馈跟踪中的哪一项。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "无状态日志；全景中手指与红球只占少量像素，无法逐物理步核实拇指/食指/中指接触对、夹持力及0.05秒保持时长。最终服务结果可确认首次接球失败，但不能把 agent 在其他重置测试中的手部读数当作末次尝试的接触事实；评分器 reward 未报告 catches 原生数值，故该指标留 null。未将成功参考录像中的接球行为记入本次进度。", + "unmet": { + "catch_1": false, + "catch_2": false, + "catch_3": false, + "catch_4": false, + "catch_5": false, + "catch_6": false, + "catch_7": false, + "catch_8": false, + "catch_9": false, + "catch_10": false + } + }, + "summary_zh": "评分视频对应 log step 256 执行、log step 258 确认结束的最后一次现场尝试：机器人先抛出左手蓝球腾手，再承接发球机的红球，但视频 2.72–2.84 s 红球未被夹住并向掌内侧滑离，10个接球节点均未达到。断点为第1次接球操作中，现象是未建立所需夹持，证据支持控制层归因。没有状态日志，细小指间接触及具体控制子因无法核实，原生 catches 数值也未报告。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "10个接球节点均为 false、断点 catch_1（操作中）、现象「没建立接触」、根因停在「控制」均与视频 2.88 s 内仅一次末次尝试（log step 256/258，服务判定红球落手未接住 0/3）一致；时间均为视频时钟，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:37:46Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard--s5zr3wj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard--s5zr3wj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1f6d40f8f68e15b833324e06e2efada0293d848c3e8f92917ac7453bbd9578ae", + "video_sha256": "2487aae93e82ded3238c3ab106c1cf49a320ed5e3c7989130cdd65278af8fb7d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard--usxsxb3.json b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard--usxsxb3.json new file mode 100644 index 0000000000000000000000000000000000000000..6860beb7102a810353756746abf4c56748055200 --- /dev/null +++ b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard--usxsxb3.json @@ -0,0 +1,346 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-juggle-three-i00-standard--usxsxb3", + "taskKey": "embodied-olympics-fun/juggle_three", + "dag_sha256": "6866d226deb20280211e64f8e3dd22d2e841dc997eece3315afe456bf7a5815b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 304, + "sim_steps": 6242, + "calls": 85, + "rows": 5934, + "resets": 26, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 4405.1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 1, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 44.233, + "peak_processes": 12, + "peak_disk_gb": 2.625, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "over_memory_gb": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-juggle-three-i00-standard--usxsxb3/replay.mp4", + "duration_s": 3.08, + "fps": 25.0, + "frames": 77, + "sha256": "411130fb0e76d725b7bf3e79d59dc8b5863f5d2a7998608c79ded22ab40f1378" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "catch_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.64, + "log_step": null, + "text_zh": "观察：视频 2.40–2.64 s 机器人左臂完成抛蓝球后的回摆，并张开左手迎接发球机送来的红球；双脚持续着地支撑。" + }, + { + "t": 2.88, + "log_step": null, + "text_zh": "观察：视频 2.80–2.96 s 红球从左手内侧附近下降，未停在手中或随手受控运动；视频 3.04 s 红球已落到髋部以下，左手仍为空。首个红球接球未完成。" + }, + { + "t": null, + "log_step": 241, + "text_zh": "观察：log step 241 的末次重置尝试 j9n 返回服务裁判结果“END failed a ball touched the ground stages 0”；该尝试的终局与视频中蓝球落地、红球继续下落相符。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "左手回摆并合指迎接红球，但未形成抓握；全景能确认漏接，不能确认红球是否瞬时擦碰某根手指，故不将接球计划中的抓握当作实际接触。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "机器人以双脚着地支撑完成迎球、回臂和合指动作，未摔倒。" + } + ] + }, + "catch_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.48, + "log_step": null, + "text_zh": "观察：视频 0.00–2.32 s 蓝球在左手中，视频 2.36–2.52 s 左手上摆后蓝球离手上升，已开始为跨手接蓝球作准备。" + }, + { + "t": 2.84, + "log_step": null, + "text_zh": "观察：视频 2.72–2.84 s 蓝球在机器人左臂内侧附近下降，未到右手；右手此时仍持原有黄球。视频 3.04 s 蓝球到达脚前地面，未出现右手接住蓝球的动作，且前置 catch_1 从未完成。" + }, + { + "t": null, + "log_step": 243, + "text_zh": "观察：agent 在 log step 243 自述“catch c2 (blue→right hand) registered”；但 log step 242 只打印无物体身份的 holding_right 短暂置1，视频 2.80 s 右手仍是黄球，不能把该自述作为第二次有效接球证据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左手起初围住蓝球，随后松指上抛；这是本节点所需跨手抛接的准备接触，并未发生右手对蓝球的抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "抛蓝球并等待回落期间，双脚着地支撑身体。" + } + ] + }, + "catch_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.96, + "log_step": null, + "text_zh": "观察：视频 2.80–2.96 s 机器人右手将起初持有的黄球向上送出，视频 3.00–3.04 s 黄球在头部上方上升，左手仍空；回合随蓝球落地结束，没有黄球落入左手的后续接球，catch_2 也未完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右手起初围住黄球，之后送球并松指抛出，开始为左手接黄球作准备；未发生左手对黄球的接球抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "右手送出黄球期间双脚着地承重，机器人保持站立。" + } + ] + }, + "catch_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.04, + "log_step": null, + "text_zh": "观察：完整视频 0.00–3.04 s 仅出现蓝球初抛、红球首次入手失败和黄球初抛，终局蓝球已落地，未出现第4次有效接球所需的后续交替抛接。推断：前置 catch_3 未达成，按事件节点的顺序门控，第4次有效接球未达成。" + } + ] + }, + "catch_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.04, + "log_step": null, + "text_zh": "观察：完整视频 0.00–3.04 s 仅出现蓝球初抛、红球首次入手失败和黄球初抛，终局蓝球已落地，未出现第5次有效接球所需的后续交替抛接。推断：前置 catch_4 未达成，按事件节点的顺序门控，第5次有效接球未达成。" + } + ] + }, + "catch_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.04, + "log_step": null, + "text_zh": "观察：完整视频 0.00–3.04 s 仅出现蓝球初抛、红球首次入手失败和黄球初抛，终局蓝球已落地，未出现第6次有效接球所需的后续交替抛接。推断：前置 catch_5 未达成，按事件节点的顺序门控，第6次有效接球未达成。" + } + ] + }, + "catch_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.04, + "log_step": null, + "text_zh": "观察：完整视频 0.00–3.04 s 仅出现蓝球初抛、红球首次入手失败和黄球初抛，终局蓝球已落地，未出现第7次有效接球所需的后续交替抛接。推断：前置 catch_6 未达成，按事件节点的顺序门控，第7次有效接球未达成。" + } + ] + }, + "catch_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.04, + "log_step": null, + "text_zh": "观察：完整视频 0.00–3.04 s 仅出现蓝球初抛、红球首次入手失败和黄球初抛，终局蓝球已落地，未出现第8次有效接球所需的后续交替抛接。推断：前置 catch_7 未达成，按事件节点的顺序门控，第8次有效接球未达成。" + } + ] + }, + "catch_9": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.04, + "log_step": null, + "text_zh": "观察：完整视频 0.00–3.04 s 仅出现蓝球初抛、红球首次入手失败和黄球初抛，终局蓝球已落地，未出现第9次有效接球所需的后续交替抛接。推断：前置 catch_8 未达成，按事件节点的顺序门控，第9次有效接球未达成。" + } + ] + }, + "catch_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.04, + "log_step": null, + "text_zh": "观察：完整视频 0.00–3.04 s 仅出现蓝球初抛、红球首次入手失败和黄球初抛，终局蓝球已落地，未出现第10次有效接球所需的后续交替抛接。推断：前置 catch_9 未达成，按事件节点的顺序门控，第10次有效接球未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catches", + "value": null, + "unit": "次", + "threshold": 10, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "catch_1", + "t": 2.88, + "log_step": 241, + "where": "操作中", + "evidence_zh": "观察：视频 2.64–2.96 s 机器人已回摆左手迎接红球，但红球从左手内侧附近掠下，始终未被夹住；这是首个要求的接球步骤，之后没有补接。视频 3.04 s 蓝球先到地面，红球仍在髋部以下下落；log step 241 末次尝试的服务裁判返回球触地、stages 0。" + }, + "unmet": { + "catch_1": false, + "catch_2": false, + "catch_3": false, + "catch_4": false, + "catch_5": false, + "catch_6": false, + "catch_7": false, + "catch_8": false, + "catch_9": false, + "catch_10": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 2.88, + "log_step": null, + "evidence_zh": "观察：视频 2.64–2.84 s 机器人左手已回到迎球位置并合指，红球仍在下降；视频 2.88–2.96 s 红球经过左手内侧后继续落下，未被手拦住。推断：对运动红球的迎球位置和合指时序未与其到达匹配，形成漏接。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 2.88, + "log_step": 241, + "source_zh": "日志 / 视频", + "evidence_zh": "观察：log step 238 恢复左臂回摆并修改合指窗口，log step 241 又延后合指、修改红球预计到达参数后执行末次尝试，裁判仍返回球触地；视频 2.80–2.96 s 左手空合而红球从旁下落。推断：接球控制未使手指在红球经过时建立夹持；证据不能进一步区分末端位置偏差、合指时序与执行跟踪误差，根因停留在“控制”。" + } + ], + "gap_zh": "无逐帧状态日志或原生 catches 计数，run.json 的评分字段也未报告 catches，故 native_metrics 中该值为 null；节点未达成由完整视频中的漏接及事件前置顺序共同判断。全景分辨率不能核实指尖瞬时接触与夹持持续时长，也不能将迎球位置偏差和合指时序错误分开归因。log step 243 所称蓝球已被右手接住、漏接红球先触地与视频不符：视频 2.80 s 右手仍持黄球，视频 3.04 s 到地面的是蓝球，红球尚在下落；以视频为准。" + }, + "summary_zh": "本次评分回合中，机器人保持站立，左手抛出蓝球并回摆迎接发球机红球，右手随后抛出黄球，但红球从左手旁漏下，10个有效接球节点均未达成。断点为第1次接球：迎接动态红球的手部控制未匹配其到达；视频 3.04 s 蓝球先落地，服务判负。未提供状态日志与原生接球计数，指尖瞬时接触及位置、时序误差的各自作用无法细分，agent 所称已接住蓝球未获视频支持。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标注与视频一致：视频 2.80–3.04 s 红球掠过左手旁下落，catch_1 未达成，后续节点按顺序门控未达成，断点 catch_1、动态时机、控制根因均有证据支持，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:46:18Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard--usxsxb3/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard--usxsxb3/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ff8e164bef91f7b21810dd31754e4174fe60d09ec22c40ee4f542dbceaa29ed6", + "video_sha256": "411130fb0e76d725b7bf3e79d59dc8b5863f5d2a7998608c79ded22ab40f1378", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard--vw8me5p.json b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard--vw8me5p.json new file mode 100644 index 0000000000000000000000000000000000000000..ff73c29df40acac6123519ea073d6465561fe810 --- /dev/null +++ b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard--vw8me5p.json @@ -0,0 +1,350 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-juggle-three-i00-standard--vw8me5p", + "taskKey": "embodied-olympics-fun/juggle_three", + "dag_sha256": "6866d226deb20280211e64f8e3dd22d2e841dc997eece3315afe456bf7a5815b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 341, + "sim_steps": 10205, + "calls": 71, + "rows": 9910, + "resets": 34, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 3862.7, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 6.427, + "peak_processes": 14, + "peak_disk_gb": 1.313, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-juggle-three-i00-standard--vw8me5p/replay.mp4", + "duration_s": 3.44, + "fps": 25.0, + "frames": 86, + "sha256": "fbacf3293170c9d3fb49c88fec02ce4bc1255b90a0a56e4cd8f522b51786457c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "catch_1": { + "method": "visual", + "intervals": [ + [ + 2.72, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.64, + "log_step": null, + "text_zh": "观察：视频 2.40–2.64 s，机器人左手先把蓝球抛离，继而迎向发球机送来的红球；视频 2.64–2.80 s，红球进入左手，手指合拢，红球随左手下降后保持在手内。" + }, + { + "t": 2.72, + "log_step": 147, + "text_zh": "推断：以视频约 2.72 s 作为首次有效接球的导航时间；log step 147 的现场裁判返回 stages_reached=1，与首次红球入左手一致。该字段是阶段数，不是接球次数。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人左手释放原持蓝球后，合拢手指夹持下落的红球；红球持续留在左手至视频结束。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚始终站在场地地面上，支撑上身完成抛接动作，未见摔倒。" + } + ] + }, + "catch_2": { + "method": "visual", + "intervals": [ + [ + 2.96, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.88, + "log_step": null, + "text_zh": "观察：视频 2.44–2.68 s，蓝球离开左手并上升；视频 2.80–2.96 s，蓝球下降进入机器人右手，手指围住蓝球，随后蓝球随右手小幅下降；视频 3.00–3.40 s，蓝球稳定留在右手，原左手此时握着红球。" + }, + { + "t": 3.32, + "log_step": 147, + "text_zh": "观察：log step 146 重置并执行最后一份方案，log step 147 在同一回合继续观察；服务返回视频对应回合末段的双手 holding 标志均为1，且仅以 a ball touched the ground 结束，而非接球夹持或抛高违规。control_dt=0.01（log step 4），log step 147 的 control_steps=341 对应仿真 3.41 s，与视频 3.40 s 黄球近地、双手仍各持一球的画面相符。" + }, + { + "t": 2.96, + "log_step": 147, + "text_zh": "推断：结合蓝球从左手飞至右手、持续被手指围住及现场服务末段双手握持读数，判定第2次接球达到，导航时间约为视频 2.96 s。现场只返回阶段数，没有精确有效接球计数；不把 agent 在 log step 150 所称“second catch (not credited)”直接当作计数裁决。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人右手先释放黄球，再以手指围住从左手抛来的蓝球；视频 2.96–3.40 s 蓝球稳定随右手保持。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚始终站在场地地面上，支撑上身完成抛接动作，未见摔倒。" + } + ] + }, + "catch_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.08, + "log_step": 147, + "text_zh": "观察：视频 2.56–2.88 s，机器人右手将黄球抛向左侧；视频 3.00–3.16 s，黄球降到左手高度并从其外侧继续下落，左手仍紧握红球，没有腾出手承接黄球。视频 3.20–3.40 s 黄球落向地面；log step 147 的同回合现场裁判返回 a ball touched the ground，未有后续恢复。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人右手此前持握黄球并将其释放抛出，属于本次黄球抛接的实际前段接触；接球端左手一直夹持红球，未见其接触或握住黄球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚始终站在场地地面上，支撑上身完成抛接动作，未见摔倒。" + } + ] + }, + "catch_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.4, + "log_step": 147, + "text_zh": "观察：视频 2.64–3.40 s，机器人左手接住红球后始终持有，未再将红球抛向右手，未发生第4次红球入右手。log step 147 确认本回合以球触地结束；这些后续计数步骤均未启动。" + } + ] + }, + "catch_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.4, + "log_step": 147, + "text_zh": "观察：视频 2.64–3.40 s，蓝球在首次从左手飞到右手后停留于右手，右手没有再抛蓝球，未发生第5次蓝球入左手。log step 147 确认本回合以球触地结束；这些后续计数步骤均未启动。" + } + ] + }, + "catch_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.4, + "log_step": 147, + "text_zh": "观察：视频 2.64–3.40 s，黄球从右手抛出后未被左手接住，随后落地；没有黄球再由左手抛向右手的过程，未发生第6次接球。log step 147 确认本回合以球触地结束；这些后续计数步骤均未启动。" + } + ] + }, + "catch_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.4, + "log_step": 147, + "text_zh": "观察：视频 2.64–3.40 s，红球只在首次发球后进入左手，之后一直留在左手；没有后续循环，未发生第7次红球入左手。log step 147 确认本回合以球触地结束；这些后续计数步骤均未启动。" + } + ] + }, + "catch_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.4, + "log_step": 147, + "text_zh": "观察：视频 2.64–3.40 s，蓝球只在首次离开左手后进入右手，之后一直留在右手；没有后续循环，未发生第8次蓝球入右手。log step 147 确认本回合以球触地结束；这些后续计数步骤均未启动。" + } + ] + }, + "catch_9": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.4, + "log_step": 147, + "text_zh": "观察：视频 2.64–3.40 s，黄球首次抛出即落向地面，未进入后续循环，未发生第9次黄球入左手。log step 147 确认本回合以球触地结束；这些后续计数步骤均未启动。" + } + ] + }, + "catch_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.4, + "log_step": 147, + "text_zh": "观察：视频 2.64–3.40 s，红球一直留在首次接球的左手，未进入后续循环，未发生第10次红球入右手。log step 147 确认本回合以球触地结束；这些后续计数步骤均未启动。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catches", + "value": null, + "unit": "次", + "threshold": 10, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "catch_3", + "t": 3.08, + "log_step": 147, + "where": "操作中", + "evidence_zh": "观察：视频约 3.08 s，黄球下降到机器人左手外侧，左手仍持红球，黄球未被接住并继续落下；这是右手抛出黄球后的第3次接球步骤。log step 147 是 log step 146 最后一次重置后的同回合服务结果，裁判以球触地终止；视频末段没有补救。" + }, + "unmet": { + "catch_1": true, + "catch_2": true, + "catch_3": false, + "catch_4": false, + "catch_5": false, + "catch_6": false, + "catch_7": false, + "catch_8": false, + "catch_9": false, + "catch_10": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 3.08, + "log_step": 147, + "evidence_zh": "观察：视频 2.72–3.16 s，机器人左手接住红球后保持闭合，黄球已在右手抛出的弧线上返回左侧；黄球经过接球高度时左手尚未抛出红球、也未跟随黄球承接，黄球从左手外侧下落。此后视频 3.40 s 黄球已近地，现场裁判在 log step 147 判球触地结束。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "t": 3.08, + "log_step": 146, + "evidence_zh": "推断：最后方案只衔接了两条“抛出原持球后接住来球”的单次路径，没有安排左手接红球后再次抛红并接黄的后续顺序。log step 103 的路径生成器在一次接球后追加定点保持，夹持生成器在闭合后保持闭合；log step 146 的最终 combine 脚本保留左手方案，仅替换延迟的右手路径。视频 2.72–3.40 s 左手持续握红球、黄球却已落下，与这一缺少跨次衔接的计划一致；agent 在 log step 150 也自述现有节奏未给左手留出再次抛红球的时间。归因依据是动作计划与画面，而非 agent 停止或预算。", + "source_zh": "日志 / 视频 / agent 自述" + } + ], + "gap_zh": "无状态日志，场地全景中的手指与彩球较小，不能逐物理步核实拇指/手指接触、0.05秒连续夹持及0.30米无接触上升量。现场裁判只报告 stages_reached=1，没有报告原生 catches，因此 native_metrics.catches 留空；第2次接球依据连续入手画面、回合末段服务双手握持读数及未发生接球判负作推断，约视频 2.96 s 的验收时间有不确定性。成功参考只用于比较交替抛接的可见形态，不作为本回合计数证据。" + }, + "summary_zh": "本回合左手接住红球，随后右手接住蓝球，按连续画面及现场握持反馈推断完成前2个接球节点；第3次黄球返回左手时，左手仍握着红球，黄球继续下落并使裁判结束回合。断点为第3次接球，现象是动态时机，最终计划缺少接红球后再抛红并接黄的跨次衔接。现场的阶段数1不等于接球次数1；缺少原生有效接球计数和精细接触日志，第二次有效接球及其验收时刻含推断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点 catch_1/2 达成、catch_3 为断点（黄球落在持红球的左手外侧、球触地结束）与视频及 log step 147 一致；现象与根因有帧和计划依据，未发现需改内容的错误。catch_2 的有效计数无法由admitted证据精确判定，标签已明示为推断。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": 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+ } + } +} diff --git a/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard-realtime--bpj5q2n.json b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard-realtime--bpj5q2n.json new file mode 100644 index 0000000000000000000000000000000000000000..159b75c96e794b802ca0c425dc85a2f2c3b9ddee --- /dev/null +++ b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard-realtime--bpj5q2n.json @@ -0,0 +1,329 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-juggle-three-i00-standard-realtime--bpj5q2n", + "taskKey": "embodied-olympics-fun/juggle_three", + "dag_sha256": "6866d226deb20280211e64f8e3dd22d2e841dc997eece3315afe456bf7a5815b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 269, + "sim_steps": 1538, + "calls": 44, + "rows": 6384, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 4064.4, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 15.844, + "max_lag_s": 0.1372, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 4, + "late_steps": 4, + "requests_refused": 2, + "request_busy_s": 3.766, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--bpj5q2n/replay.mp4", + "duration_s": 2.72, + "fps": 25.0, + "frames": 68, + "sha256": "ddf3996b11c322acfec3146c878a20dd0d1c29ce9df317e7fd0c923e103715fb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "catch_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.52, + "log_step": 221, + "text_zh": "观察：视频 2.04 s 红球由发球机升空；视频 2.52–2.68 s 红球下落到机器人抬起后正在回落的左手附近，左手手指始终张开，红球未被夹住并随手受控运动。log step 221 的 episode 6 服务结果为 a ball that came down on a hand was not caught，control_steps=269；全片未见第1次有效接球。" + }, + { + "t": 2.28, + "log_step": 221, + "text_zh": "推断：log step 221 给出最终 episode 6 的 control_dt=0.01，左臂脉冲从 control step 225 开始，对应仿真 2.25 s；已与视频 2.24 s 尚未明显摆臂、视频 2.28 s 开始摆臂核对，且终止 control step 269 对应仿真 2.69 s，与视频末帧 2.68 s 相符。因此可将该脚本的仿真动作时间与本视频近似对齐，误差约一帧。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：视频 2.52–2.68 s 机器人张开的左手与下落红球短暂回碰，未合指夹持；候选名称“张手擦碰”，没有形成抓握或稳定托举，现有接触方式不能准确表达。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0–2.68 s 机器人双脚始终在地面支撑身体，摆左臂准备接红球时保持站立。" + } + ] + }, + "catch_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": 221, + "text_zh": "观察：视频 0–2.36 s 蓝球在机器人左手中，视频 2.40 s 已离开左手，随后向画面右侧飞出，视频 2.68 s 仍在右外侧下落；右手始终握着黄球，没有接到蓝球，第1次接球也未完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 0–2.36 s 机器人左手包住蓝球并带球摆动，随后张指抛出，开始为对侧接蓝球准备；右手没有建立对蓝球的抓握，初始持蓝球不算本次接球完成。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 2.28–2.68 s 机器人双脚支撑站立，左手摆动并放出蓝球。" + } + ] + }, + "catch_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.68, + "log_step": 221, + "text_zh": "观察：视频 0–2.68 s 机器人只摆动左臂放出蓝球，右手黄球一直未抛出；首发红球在片尾落到张开的左手附近却未夹住，未出现连续交替接球。第3次左手接黄球没有发生，所需前置接球也未达成；log step 221 确认最终 episode 6 已失败结束。" + } + ] + }, + "catch_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.68, + "log_step": 221, + "text_zh": "观察：视频 0–2.68 s 机器人只摆动左臂放出蓝球，右手黄球一直未抛出；首发红球在片尾落到张开的左手附近却未夹住，未出现连续交替接球。第4次右手接红球没有发生，所需前置接球也未达成；log step 221 确认最终 episode 6 已失败结束。" + } + ] + }, + "catch_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.68, + "log_step": 221, + "text_zh": "观察：视频 0–2.68 s 机器人只摆动左臂放出蓝球，右手黄球一直未抛出；首发红球在片尾落到张开的左手附近却未夹住，未出现连续交替接球。第5次左手接蓝球没有发生，所需前置接球也未达成；log step 221 确认最终 episode 6 已失败结束。" + } + ] + }, + "catch_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.68, + "log_step": 221, + "text_zh": "观察：视频 0–2.68 s 机器人只摆动左臂放出蓝球，右手黄球一直未抛出；首发红球在片尾落到张开的左手附近却未夹住，未出现连续交替接球。第6次右手接黄球没有发生，所需前置接球也未达成；log step 221 确认最终 episode 6 已失败结束。" + } + ] + }, + "catch_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.68, + "log_step": 221, + "text_zh": "观察：视频 0–2.68 s 机器人只摆动左臂放出蓝球，右手黄球一直未抛出；首发红球在片尾落到张开的左手附近却未夹住，未出现连续交替接球。第7次左手接红球没有发生，所需前置接球也未达成；log step 221 确认最终 episode 6 已失败结束。" + } + ] + }, + "catch_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.68, + "log_step": 221, + "text_zh": "观察：视频 0–2.68 s 机器人只摆动左臂放出蓝球，右手黄球一直未抛出；首发红球在片尾落到张开的左手附近却未夹住，未出现连续交替接球。第8次右手接蓝球没有发生，所需前置接球也未达成；log step 221 确认最终 episode 6 已失败结束。" + } + ] + }, + "catch_9": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.68, + "log_step": 221, + "text_zh": "观察：视频 0–2.68 s 机器人只摆动左臂放出蓝球，右手黄球一直未抛出；首发红球在片尾落到张开的左手附近却未夹住，未出现连续交替接球。第9次左手接黄球没有发生，所需前置接球也未达成；log step 221 确认最终 episode 6 已失败结束。" + } + ] + }, + "catch_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.68, + "log_step": 221, + "text_zh": "观察：视频 0–2.68 s 机器人只摆动左臂放出蓝球，右手黄球一直未抛出；首发红球在片尾落到张开的左手附近却未夹住，未出现连续交替接球。第10次右手接红球没有发生，所需前置接球也未达成；log step 221 确认最终 episode 6 已失败结束。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catches", + "value": null, + "unit": "次", + "threshold": 10, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "catch_1", + "t": 2.52, + "log_step": 221, + "where": "操作中", + "evidence_zh": "观察：视频 2.52–2.68 s 机器人左手尚在抛蓝球后的回落过程中，首发红球已降到该手附近；左手没有合指夹住红球。log step 221 记录最终 episode 6 的服务判负原文为 a ball that came down on a hand was not caught，视频到此没有完成首次接球。" + }, + "unmet": { + "catch_1": false, + "catch_2": false, + "catch_3": false, + "catch_4": false, + "catch_5": false, + "catch_6": false, + "catch_7": false, + "catch_8": false, + "catch_9": false, + "catch_10": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 2.52, + "log_step": 221, + "evidence_zh": "观察：视频 2.52 s 下落红球已到机器人高举的左手附近，视频 2.56–2.68 s 左手继续回落且手指张开，红球从其附近下落而未被夹住。log step 221 显示脚本预设握合在仿真时间 2.88 s 才开始，服务已在 control step 269 判负；机器人没有在红球回碰的窗口内完成接球。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：最终控制脚本的抛球后回程与握合时序未能配合实际红球回碰。log step 220 的脚本安排左手在仿真 2.82 s 后回到预定接球姿势、仿真 2.88–2.96 s 才握合；log step 221 检查显示仿真 2.87 s 左手握合量仍为0。视频 2.52–2.68 s 红球已经接近高举后回落的左手，机器人手指却始终张开。log step 221 的 control_dt=0.01、脉冲起点 control step 225 及终止 control step 269，与视频约 2.28 s 开始摆臂及视频 2.68 s 末帧吻合。由此可确认动作衔接和闭手时机失配，但不能仅凭画面区分回程目标设计与执行跟踪误差，故停在控制大类。", + "source_zh": "日志" + } + ], + "gap_zh": "没有状态日志或逐物理步的红球手指接触、有效接球计数，无法精确确定首次回碰发生于哪一控制步及哪些指节；视频可见未夹持，服务明确判定回碰后未接住。log step 222、224 的 agent 自述把失败归于蓝球落回左手，但视频 2.52–2.68 s 显示蓝球在远离左手的右外侧下落、红球才位于左手附近，因此不采纳该球色归因。原生 catches 未在评分器字段报告，指标值保留 null；节点未达由全片动作与前置关系判断。 脚本对原始接球点到达时刻的估计与高举左手的提前回碰不是同一几何事件，不能单凭此证明感知估计错误；没有完整执行目标与实测位姿轨迹可区分控制子类。" + }, + "summary_zh": "最终评分的是 episode 6：机器人站立、左手抛出蓝球，右手仍持黄球；首发红球在视频约 2.52–2.68 s 降到张开的左手附近却未被夹住，10个接球节点均未达成。断点为第1次接球，现象为动态时机失配，最终脚本的回程和过晚握合未配合实际红球回碰，根因归控制。没有逐步接触和原生接球计数，控制子类无法确定；agent 将失败球认作蓝球的自述与视频不符。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频仅2.72 s，10个接球节点均未达成、断点为第1次接球，与视频和服务判负一致；视频2.68 s红球在左手旁、蓝球已飞到右外侧，支持标注者对agent自述球色的否定。动态时机+控制的归因有日志依据，控制子类的不确定性已写入gap_zh。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:50:35Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + 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+ "realtime": 1, + "slowdown": 1.0, + "clock_s": 17.04, + "max_lag_s": 0.0686, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 284, + "late_steps": 0, + "requests_refused": 4, + "request_busy_s": 3.98, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--cp2rpul/replay.mp4", + "duration_s": 2.88, + "fps": 25.0, + "frames": 72, + "sha256": "1e3f37be5d97e1572ca0675d6d37cabb704ef1bf9fd3078aa201f7c32071a819" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "catch_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.68, + "log_step": null, + "text_zh": "观察：视频 2.40–2.60 s，机器人左手抛出蓝球并张手返回；视频 2.68–2.84 s，发球机送来的红球降至左手竖起的手指附近，未见拇指与另一手指把球夹住并受控带走。" + }, + { + "t": 2.84, + "log_step": 236, + "text_zh": "观察：log step 236 的机器人服务返回 episode=6、control_steps=284、done=true、reason=failed，裁判 outcome 为“a ball that came down on a hand was not caught”。视频最后一帧为视频 2.84 s，红球仍在张开的左手附近，与该回合的首次接球失败相符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "托/舀", + "note_zh": "观察：视频 2.68–2.84 s，机器人左手张开的手指从下方短暂承接红球，未见对向夹持，故不标抓握；裁判在 log step 236 确认球已落到手上但未被接住。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–2.84 s，机器人双脚持续落地支撑身体，抛球及接红球期间保持站立。" + } + ] + }, + "catch_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.56, + "log_step": null, + "text_zh": "观察：视频 2.40–2.56 s，机器人左手将蓝球向上抛出；视频 2.84 s，蓝球仍在机器人头侧空中，未落入右手，未见第2次接球。" + }, + { + "t": 2.84, + "log_step": 236, + "text_zh": "推断：log step 236 的最终回合已因红球未接住而结束，且视频 2.84 s 前没有第1次有效接球，因此依序发生的第2次有效接球未达到；初始左手持蓝球不计为本次接球。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 0.00–2.40 s，机器人左手包持蓝球，随后摆臂并张指抛出，完成第2次接球所需的蓝球抛出准备；视频结束前右手未接到蓝球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 2.40–2.56 s，机器人双脚支撑地面，站立抛出蓝球。" + } + ] + }, + "catch_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 236, + "text_zh": "观察：视频 2.72–2.84 s，机器人右手带黄球抬起并张手，末帧黄球在右手上方、靠近面部，未被左手接住；log step 236 的最终回合此时已判负。第1次接球尚未完成，未出现依序的第3次接球。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 0.00–2.72 s，机器人右手包持黄球；视频 2.72–2.84 s，右臂抬起并张指送出黄球，为第3次接球作抛球准备，尚无左手接黄球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 2.72–2.84 s，机器人双脚持续支撑地面，右臂抬起送出黄球。" + } + ] + }, + "catch_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 236, + "text_zh": "推断：已检查视频 0.00–2.84 s，机器人只进行了初始蓝、黄球抛出及首次接红球动作，红球未形成有效夹持；log step 236 确认最终回合因落手球未接住而结束。此前序列未完成，未发生第4次由右手接红球的计数事件。" + } + ] + }, + "catch_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 236, + "text_zh": "推断：已检查视频 0.00–2.84 s，机器人只进行了初始蓝、黄球抛出及首次接红球动作，红球未形成有效夹持；log step 236 确认最终回合因落手球未接住而结束。此前序列未完成，未发生第5次由左手接蓝球的计数事件。" + } + ] + }, + "catch_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 236, + "text_zh": "推断：已检查视频 0.00–2.84 s，机器人只进行了初始蓝、黄球抛出及首次接红球动作，红球未形成有效夹持；log step 236 确认最终回合因落手球未接住而结束。此前序列未完成，未发生第6次由右手接黄球的计数事件。" + } + ] + }, + "catch_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 236, + "text_zh": "推断：已检查视频 0.00–2.84 s，机器人只进行了初始蓝、黄球抛出及首次接红球动作，红球未形成有效夹持；log step 236 确认最终回合因落手球未接住而结束。此前序列未完成，未发生第7次由左手接红球的计数事件。" + } + ] + }, + "catch_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 236, + "text_zh": "推断：已检查视频 0.00–2.84 s，机器人只进行了初始蓝、黄球抛出及首次接红球动作，红球未形成有效夹持；log step 236 确认最终回合因落手球未接住而结束。此前序列未完成，未发生第8次由右手接蓝球的计数事件。" + } + ] + }, + "catch_9": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 236, + "text_zh": "推断：已检查视频 0.00–2.84 s，机器人只进行了初始蓝、黄球抛出及首次接红球动作，红球未形成有效夹持；log step 236 确认最终回合因落手球未接住而结束。此前序列未完成，未发生第9次由左手接黄球的计数事件。" + } + ] + }, + "catch_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 236, + "text_zh": "推断：已检查视频 0.00–2.84 s，机器人只进行了初始蓝、黄球抛出及首次接红球动作，红球未形成有效夹持；log step 236 确认最终回合因落手球未接住而结束。此前序列未完成，未发生第10次由右手接红球的计数事件。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catches", + "value": null, + "unit": "次", + "threshold": 10, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "catch_1", + "t": 2.7, + "log_step": 236, + "where": "操作中", + "evidence_zh": "观察：视频 2.68–2.84 s，红球已下降到机器人左手手指附近，但左手未把它夹稳；机器人仍站立。log step 236 的最终 episode=6 被裁判以“a ball that came down on a hand was not caught”判负，首次有效接球未完成。" + }, + "unmet": { + "catch_1": false, + "catch_2": false, + "catch_3": false, + "catch_4": false, + "catch_5": false, + "catch_6": false, + "catch_7": false, + "catch_8": false, + "catch_9": false, + "catch_10": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 2.7, + "log_step": 236, + "evidence_zh": "观察：视频 2.68–2.84 s，红球碰到机器人左手附近，但没有出现拇指与另一手指对向夹住红球的受控运动；log step 236 的裁判结果明确为落到手上的球未被接住。这里缺少的是合格夹持接触，已有短暂触碰不等于接稳，也没有已接稳后再丢失的证据。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 232 的最终控制脚本在左手抛蓝球后，于控制步269才发出合手命令；log step 237 读取同一 episode=6 的服务本体反馈，仿真 2.68 s 左手闭合量约0.001，仿真 2.71–2.84 s 才逐渐增至0.552，holding_left 始终为0。结合视频 2.68–2.84 s 红球落手却未被对向夹持，以及 log step 236 的裁判未接住结果，可归于抓取动作执行未及时形成有效夹持；现有证据不足以进一步区分手指轨迹、接触几何或力控制子类。", + "source_zh": "日志" + } + ], + "gap_zh": "没有逐物理步状态日志；全景画面的手指较小，不能直接核实拇指及各手指的精确接触对或0.05秒连续夹持。首次未接住由最终 episode=6 的裁判具体原因和视频共同确认；其他回合的测试结果不计入本次节点。reward字段未报告catches原生计数，故该指标value保留null。" + }, + "summary_zh": "最后一次评分回合中，机器人站立抛出蓝球并开始抛黄球，但视频 2.68–2.84 s 的左手接红球未形成有效夹持，10个接球节点均未达到。断点为第1次接球，裁判在 log step 236 明确判定落到手上的球未被接住，最终回合的合手反馈支持控制层面的夹持失败。无逐物理步状态日志，手指接触细节不能完全分辨；日志中的其他重置回合及后续计划均不作为已完成进度。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频仅2.88 s（最终回合），10个接球节点均未达成、断点catch_1、时钟均用视频时间，与裁判 log step 236 的 failed 结果一致；现象与根因有证据支持，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:48:47Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--cp2rpul/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--cp2rpul/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "466c95499095a6494335e43dd5f7ee211fd95d355b41c36dd73a92e7f42430da", + "video_sha256": "1e3f37be5d97e1572ca0675d6d37cabb704ef1bf9fd3078aa201f7c32071a819", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard-realtime--eagtvx7.json b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard-realtime--eagtvx7.json new file mode 100644 index 0000000000000000000000000000000000000000..794cddc07f031e02938eba77a857446baba5fb76 --- /dev/null +++ b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard-realtime--eagtvx7.json @@ -0,0 +1,348 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-juggle-three-i00-standard-realtime--eagtvx7", + "taskKey": "embodied-olympics-fun/juggle_three", + "dag_sha256": "6866d226deb20280211e64f8e3dd22d2e841dc997eece3315afe456bf7a5815b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 319, + "sim_steps": 2097, + "calls": 889, + "rows": 3400, + "resets": 7, + "reset_budget": 10, + "sim_startups": 1, + "elapsed_s": 2130.0, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 22.34, + "max_lag_s": 0.3432, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 0, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 6.626, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--eagtvx7/replay.mp4", + "duration_s": 3.2, + "fps": 25.0, + "frames": 80, + "sha256": "dc94ba86bc974f04e4ed8eebc246fd4a9a32186340d561608e0c4deff99eefdb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "catch_1": { + "method": "visual", + "intervals": [ + [ + 2.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.8, + "log_step": 82, + "text_zh": "观察：视频 2.64–2.72 s，发球机送出的红球下降到机器人左手；视频 2.76–3.16 s，左手手指围住红球，红球随手降低后稳定留在手内，原先的蓝球已离开该手。log step 82 的最终现场运行由机器人服务返回 stages_reached=1/3（阶段数，不是10次接球的分母）和球触地失败；与首发红球接住的画面一致。" + }, + { + "t": 2.8, + "log_step": null, + "text_zh": "推断：首发红球已有效接住，达到 catch_1，首次成立约为视频 2.8 s；25 fps全景不能精确核验拇指与另一指连续夹持0.05秒，以可见受控持球及本回合服务阶段结果共同判定。此节点是已发生的事件，之后失败不撤销它。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 2.76–3.16 s，机器人左手手指围住红球并使球随手受控移动；右手静持黄球，不参与此次红球接住。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 2.0–3.16 s，机器人双脚着地支撑身体，站立完成左手接红球。" + } + ] + }, + "catch_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.32, + "log_step": 82, + "text_zh": "观察：视频 2.20–2.40 s，机器人左手向上摆动并放出蓝球，随后空手返回接红球；视频 2.92–3.16 s，蓝球从画面右上方下降到发球机一侧。视频 2.72–3.16 s，红球留在左手、黄球仍在右手，没有右手接蓝球的动作。log step 82 最终控制器回放首接球方案，agent 在 log step 83–84 自述抛蓝球用于腾出左手。推断：该方案没有启动向右手抛接蓝球的步骤。" + }, + { + "t": 3.16, + "log_step": 82, + "text_zh": "推断：catch_2 未达到。log step 82 明确执行最终 s1_e.npy 控制方案后，现场机器人服务报告 a ball touched the ground、failed、stages 1/3；该回合 control_steps=319，任务控制周期为0.01秒，得到约视频 3.19 s 的终止时刻，与视频 3.12–3.16 s 蓝球在发球机后方下降并消失、全片3.2秒相符；不是将agent时间换成视频时间。" + } + ] + }, + "catch_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.16, + "log_step": 82, + "text_zh": "观察：视频 2.76–3.16 s，机器人仅左手受控持有首发红球，右手仍持初始黄球，蓝球在视频 2.92–3.16 s 向发球机一侧下落；未出现第3次所需的左手接黄球事件。推断：第2次蓝球接入右手始终未成立，随后本回合由服务以球触地终止（log step 82），依接球次序及 after 前置，catch_3 未达到；初始持球不算有效接球。" + } + ] + }, + "catch_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.16, + "log_step": 82, + "text_zh": "观察：视频 2.76–3.16 s，机器人仅左手受控持有首发红球，右手仍持初始黄球，蓝球在视频 2.92–3.16 s 向发球机一侧下落；未出现第4次所需的右手接红球事件。推断：第2次蓝球接入右手始终未成立，随后本回合由服务以球触地终止（log step 82），依接球次序及 after 前置，catch_4 未达到；初始持球不算有效接球。" + } + ] + }, + "catch_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.16, + "log_step": 82, + "text_zh": "观察：视频 2.76–3.16 s，机器人仅左手受控持有首发红球，右手仍持初始黄球，蓝球在视频 2.92–3.16 s 向发球机一侧下落；未出现第5次所需的左手接蓝球事件。推断：第2次蓝球接入右手始终未成立，随后本回合由服务以球触地终止（log step 82），依接球次序及 after 前置，catch_5 未达到；初始持球不算有效接球。" + } + ] + }, + "catch_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.16, + "log_step": 82, + "text_zh": "观察：视频 2.76–3.16 s，机器人仅左手受控持有首发红球，右手仍持初始黄球，蓝球在视频 2.92–3.16 s 向发球机一侧下落；未出现第6次所需的右手接黄球事件。推断：第2次蓝球接入右手始终未成立，随后本回合由服务以球触地终止（log step 82），依接球次序及 after 前置，catch_6 未达到；初始持球不算有效接球。" + } + ] + }, + "catch_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.16, + "log_step": 82, + "text_zh": "观察：视频 2.76–3.16 s，机器人仅左手受控持有首发红球，右手仍持初始黄球，蓝球在视频 2.92–3.16 s 向发球机一侧下落；未出现第7次所需的左手接红球事件。推断：第2次蓝球接入右手始终未成立，随后本回合由服务以球触地终止（log step 82），依接球次序及 after 前置，catch_7 未达到；初始持球不算有效接球。" + } + ] + }, + "catch_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.16, + "log_step": 82, + "text_zh": "观察：视频 2.76–3.16 s，机器人仅左手受控持有首发红球，右手仍持初始黄球，蓝球在视频 2.92–3.16 s 向发球机一侧下落；未出现第8次所需的右手接蓝球事件。推断：第2次蓝球接入右手始终未成立，随后本回合由服务以球触地终止（log step 82），依接球次序及 after 前置，catch_8 未达到；初始持球不算有效接球。" + } + ] + }, + "catch_9": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.16, + "log_step": 82, + "text_zh": "观察：视频 2.76–3.16 s，机器人仅左手受控持有首发红球，右手仍持初始黄球，蓝球在视频 2.92–3.16 s 向发球机一侧下落；未出现第9次所需的左手接黄球事件。推断：第2次蓝球接入右手始终未成立，随后本回合由服务以球触地终止（log step 82），依接球次序及 after 前置，catch_9 未达到；初始持球不算有效接球。" + } + ] + }, + "catch_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.16, + "log_step": 82, + "text_zh": "观察：视频 2.76–3.16 s，机器人仅左手受控持有首发红球，右手仍持初始黄球，蓝球在视频 2.92–3.16 s 向发球机一侧下落；未出现第10次所需的右手接红球事件。推断：第2次蓝球接入右手始终未成立，随后本回合由服务以球触地终止（log step 82），依接球次序及 after 前置，catch_10 未达到；初始持球不算有效接球。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catches", + "value": null, + "unit": "次", + "threshold": 10, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "catch_2", + "t": 2.32, + "log_step": 82, + "where": "首步前", + "evidence_zh": "观察：视频 2.20–2.40 s，机器人左手向上摆动、放出蓝球，随后返回接红球；视频 2.92–3.16 s，蓝球从画面右上方下降到发球机一侧，右手始终持黄球，未迎接蓝球。log step 82 的最终控制器加载 s1_e.npy，说明其为 first catch 方案；本回合服务报告 stages 1/3，随后因球触地失败。推断：交付方案只抛开蓝球以腾出左手，没有启动蓝球到右手的抛接步骤，因此断点仍为 catch_2，位置改为该步的首步前；视频 2.32 s 仅锚定抛开蓝球的画面，不表示 catch_2 已启动。" + }, + "unmet": { + "catch_1": true, + "catch_2": false, + "catch_3": false, + "catch_4": false, + "catch_5": false, + "catch_6": false, + "catch_7": false, + "catch_8": false, + "catch_9": false, + "catch_10": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 2.32, + "log_step": 82, + "evidence_zh": "观察：视频 2.20–2.40 s，机器人左手抛高蓝球后返回接红球；视频 2.72–3.16 s，左手持红球、右手仍持黄球，蓝球随后在发球机一侧下落，没有右手迎接蓝球的动作。log step 82 的最终控制器明确回放首接球方案 s1_e.npy；agent 在 log step 83 的笔记及 log step 84 自述该方案抛开蓝球以腾出左手，未实现后续级联抛接。推断：本次交付没有启动 catch_2 所需的向右手抛接蓝球步骤；蓝球的抛出属于首接红球的清手动作，不能标成已瞄准右手却落点偏离。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "log_step": 82, + "source_zh": "日志 / 视频 / agent 自述", + "evidence_zh": "观察：log step 68–69 生成首接球控制文件 s1_e.npy，log step 82 的最终控制器选用该文件，代码说明只包含左手抛蓝球、返回承接位置和闭指接红球，提交后仅轮询结束状态；服务返回 stages 1/3、球触地失败。视频 2.20–3.16 s 与该动作顺序一致，右手持续持黄球，没有接蓝球的安排。agent 在 log step 83–84 自述最终方案只做到首接球，跨手抛球调试未成功。推断：最终采用只完成首接红球、抛开蓝球却不安排右手接收的方案，缺少完成连续接球所需的跨阶段计划，支持归为认知·推理/规划；依据是交付方案的具体缺项，而非仅因 agent 停止或节点未达。跨手抛球漂移的会话调试记录仅作为选用该方案的背景，不作为本回合已尝试跨手控制的证据。" + } + ], + "gap_zh": "没有状态日志或逐帧原生有效接球计数；run.json 的 reward 未报告 catches 数值，因此 native_metrics.value 留空，服务的 stages 1/3 仅用于支持首接球阶段。25 fps全景无法逐物理步核验拇指与另一指的接触组合及0.05秒夹持时长，首次接球时间约为视频 2.8 s。视频 3.12–3.16 s 蓝球在发球机一侧下降，末端触地点被遮挡，触地判负由最终回合现场裁判结果支持。规划归因结合最终控制代码、视频动作及 agent 对所选方案的说明作出推断，不能用会话调试确定本回合不存在的跨手控制动作的细分原因。" + }, + "summary_zh": "本次评分回合在视频约 2.8 s 完成左手接住首发红球，达到1/10个接球节点；右手接蓝球及其后8次接球均未达到。最终交付只安排抛开蓝球以腾出左手接红球，没有启动蓝球到右手的抛接，断点为 catch_2（首步前），现象为没尝试，根因推断为认知·推理/规划；log step 82 的最终现场裁判以球触地结束回合。无状态日志及原生 catches 字段，微小指间接触和最后触地点不能直接核验，已结合可见持球过程与最终服务结果判断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "WHERE 标签（catch_1 约视频 2.8 s 达到、catch_2 起未达到、断点 catch_2、319 步≈3.19 s 的映射）与视频和服务结果 stages 1/3 一致。问题在 why：最终交付的 s1_e.npy 并没有'向右手抛蓝球'的动作（agent 在 log step 82/83 的代码与笔记写明是把蓝球'向上/向外抛出'以腾出左手），所以'位姿不准=抛球落点偏离右手'把一个未被交付的动作当成了失败动作（FAIL-23），根因也应改为规划层面。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "第2轮：catch_1 约视频 2.8 s 达到、catch_2 起未达到、断点 catch_2（首步前）、没尝试 + 推理/规划 均与视频和服务结果 stages 1/3 一致；第1轮的问题已改正。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:50:07Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--eagtvx7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--eagtvx7/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--eagtvx7/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--eagtvx7/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ecec058634095604dd88b36e0efdbc2df2b44154d6b8c5edc9abbbec8a2d5f4a", + "video_sha256": "dc94ba86bc974f04e4ed8eebc246fd4a9a32186340d561608e0c4deff99eefdb", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard-realtime--gjbkfx2.json b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard-realtime--gjbkfx2.json new file mode 100644 index 0000000000000000000000000000000000000000..e7d8a1ceb10b19ff7b958e5f3f8ae0b50b5b0e77 --- /dev/null +++ b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard-realtime--gjbkfx2.json @@ -0,0 +1,317 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-juggle-three-i00-standard-realtime--gjbkfx2", + "taskKey": "embodied-olympics-fun/juggle_three", + "dag_sha256": "6866d226deb20280211e64f8e3dd22d2e841dc997eece3315afe456bf7a5815b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 287, + "sim_steps": 1660, + "calls": 24, + "rows": 12000, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 4364.7, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 16.674, + "max_lag_s": 0.0975, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 0, + "late_steps": 0, + "requests_refused": 2, + "request_busy_s": 3.565, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--gjbkfx2/replay.mp4", + "duration_s": 2.88, + "fps": 25.0, + "frames": 72, + "sha256": "3831ecc723753e7fd1dd4e2e887171e9fa201b2a8946ef10d1fa977833852617" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "catch_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.68, + "log_step": null, + "text_zh": "观察：视频2.04–2.64 s，发球机送出的红球上升后落向机器人左手；视频2.68–2.76 s红球到达左手蓝球附近，随后在视频2.80–2.84 s出现在左手下方，未随手保持受控运动。" + }, + { + "t": 2.84, + "log_step": 118, + "text_zh": "观察：log step 118实际服务提交后的裁判结果为“a ball that came down on a hand was not caught”，stages_reached=0，与视频末段红球从左手处落下相符；同一输出先前的catches列表来自agent的本地模拟，不属于评分回合。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "托/舀", + "note_zh": "观察：视频2.68–2.76 s，机器人左手从下方短暂承接来球，红球随后落到手下；没有形成可确认的合手夹持。左手原有蓝球仍在手部附近。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频0.00–2.84 s，机器人双脚支撑地面，摆臂接球时保持站立。" + } + ] + }, + "catch_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 118, + "text_zh": "推断：视频0.00–2.84 s仅见首发红球飞向左手后落到手下，未见后续彩球跨手接住；log step 118服务裁判报告stages_reached=0且首个接球失败。第1次接球未达成，故按顺序依赖，第2次蓝球由右手接住的计数事件未发生；初始持球不计接球。" + } + ] + }, + "catch_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 118, + "text_zh": "推断：视频0.00–2.84 s仅见首发红球飞向左手后落到手下，未见后续彩球跨手接住；log step 118服务裁判报告stages_reached=0且首个接球失败。第1次接球未达成，故按顺序依赖，第3次黄球由左手接住的计数事件未发生；初始持球不计接球。" + } + ] + }, + "catch_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 118, + "text_zh": "推断：视频0.00–2.84 s仅见首发红球飞向左手后落到手下，未见后续彩球跨手接住；log step 118服务裁判报告stages_reached=0且首个接球失败。第1次接球未达成，故按顺序依赖，第4次红球由右手接住的计数事件未发生；初始持球不计接球。" + } + ] + }, + "catch_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 118, + "text_zh": "推断：视频0.00–2.84 s仅见首发红球飞向左手后落到手下，未见后续彩球跨手接住；log step 118服务裁判报告stages_reached=0且首个接球失败。第1次接球未达成，故按顺序依赖，第5次蓝球由左手接住的计数事件未发生；初始持球不计接球。" + } + ] + }, + "catch_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 118, + "text_zh": "推断：视频0.00–2.84 s仅见首发红球飞向左手后落到手下，未见后续彩球跨手接住；log step 118服务裁判报告stages_reached=0且首个接球失败。第1次接球未达成，故按顺序依赖，第6次黄球由右手接住的计数事件未发生；初始持球不计接球。" + } + ] + }, + "catch_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 118, + "text_zh": "推断：视频0.00–2.84 s仅见首发红球飞向左手后落到手下，未见后续彩球跨手接住；log step 118服务裁判报告stages_reached=0且首个接球失败。第1次接球未达成，故按顺序依赖，第7次红球由左手接住的计数事件未发生；初始持球不计接球。" + } + ] + }, + "catch_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 118, + "text_zh": "推断：视频0.00–2.84 s仅见首发红球飞向左手后落到手下，未见后续彩球跨手接住；log step 118服务裁判报告stages_reached=0且首个接球失败。第1次接球未达成，故按顺序依赖，第8次蓝球由右手接住的计数事件未发生；初始持球不计接球。" + } + ] + }, + "catch_9": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 118, + "text_zh": "推断：视频0.00–2.84 s仅见首发红球飞向左手后落到手下，未见后续彩球跨手接住；log step 118服务裁判报告stages_reached=0且首个接球失败。第1次接球未达成，故按顺序依赖，第9次黄球由左手接住的计数事件未发生；初始持球不计接球。" + } + ] + }, + "catch_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 118, + "text_zh": "推断：视频0.00–2.84 s仅见首发红球飞向左手后落到手下，未见后续彩球跨手接住；log step 118服务裁判报告stages_reached=0且首个接球失败。第1次接球未达成，故按顺序依赖，第10次红球由右手接住的计数事件未发生；初始持球不计接球。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catches", + "value": null, + "unit": "次", + "threshold": 10, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "catch_1", + "t": 2.72, + "log_step": 118, + "where": "操作中", + "evidence_zh": "观察：视频2.68–2.84 s，红球到达机器人左手后从手旁向下脱离，机器人没有接住首发红球；log step 118服务裁判以“a ball that came down on a hand was not caught”结束该回合，stages_reached=0。log step 120的新配置在reset处被拒绝，log step 122确认episode=6、reason=failed、running=False，未产生替代评分回合。" + }, + "unmet": { + "catch_1": false, + "catch_2": false, + "catch_3": false, + "catch_4": false, + "catch_5": false, + "catch_6": false, + "catch_7": false, + "catch_8": false, + "catch_9": false, + "catch_10": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 2.72, + "log_step": 118, + "evidence_zh": "观察：视频2.60–2.68 s，红球下降到机器人左手上方；视频2.72–2.84 s，红球经过手部后继续向下，左手没有在来球经过时将其截停并夹持。log step 118服务裁判确认落到手上的球未被接住。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 79的控制脚本把本地生成的关节与握指序列以100 Hz开环提交，接球期间没有根据来球修正动作；log step 117修改握指策略后，log step 118本地监测虽打印1次红球接球，实际服务仍判未接住，与视频2.68–2.84 s红球从左手处下落一致。这套摆臂与握指控制未在实际接球窗口形成有效夹持；证据不足以进一步区分手位轨迹偏差和手指接触配合问题。" + } + ], + "gap_zh": "没有状态日志，场地全景分辨率不足以核实拇指与各手指的接触对、接触力及连续夹持时长，因此控制根因不细分。reward未直接报告catches原生数值，保留该指标为null；节点判断采用可见漏接和log step 118实际裁判结果。log step 117–120的本地模拟接球不作评分进度；agent在log step 123关于腿部顺应性偏差及任务无合法解的说法未经独立核实。" + }, + "summary_zh": "评分回合完成0/10个接球节点：机器人站立摆臂，首发红球在视频约2.7 s到达左手后向下脱离，断点为第1次接球。实际服务在log step 118判定落到手上的球未被接住，开环摆臂与握指控制没有形成有效接球；之后重置被拒绝，没有新的评分回合。缺少状态日志和手指接触细节，无法进一步细分控制原因，本地模拟的接球结果不计入进度。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频和服务裁判结果一致：视频2.6–2.84 s红球落到机器人左手后从手旁下落，0/10节点、断点catch_1、动态时机现象均有依据；本地模拟的接球未计入，控制根因停在“控制”层级合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:50:12Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--gjbkfx2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--gjbkfx2/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "66a1cbc8caf07091245fd7134bbe7224c3c8cd7f21ba0680fc065c113abc4938", + "video_sha256": "3831ecc723753e7fd1dd4e2e887171e9fa201b2a8946ef10d1fa977833852617", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard-realtime--spukudk.json b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard-realtime--spukudk.json new file mode 100644 index 0000000000000000000000000000000000000000..9f56965294525704fa7e8fbc59e3b1f9ff29d2a0 --- /dev/null +++ b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard-realtime--spukudk.json @@ -0,0 +1,335 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-juggle-three-i00-standard-realtime--spukudk", + "taskKey": "embodied-olympics-fun/juggle_three", + "dag_sha256": "6866d226deb20280211e64f8e3dd22d2e841dc997eece3315afe456bf7a5815b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 284, + "sim_steps": 284, + "calls": 3, + "rows": 350, + "resets": 0, + "reset_budget": 10, + "sim_startups": 1, + "elapsed_s": 806.7, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 2.973, + "max_lag_s": 0.1308, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 0, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 0.27, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--spukudk/replay.mp4", + "duration_s": 2.88, + "fps": 25.0, + "frames": 72, + "sha256": "ae4566fa553c73a9e3402781024947437d2ee8131829c97104fe36a605b65689" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "catch_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00–1.80 s，机器人站立，左手握蓝球、右手握黄球；这两个初始持球状态不是有效接球事件。" + }, + { + "t": 2.72, + "log_step": 36, + "text_zh": "观察：视频 2.00–2.68 s，发球机送出的红球上升后朝左手下落；视频 2.72–2.84 s 红球抵达仍有蓝球的左手上沿，未见左手夹住红球并带动它受控运动。log step 36 的现场机器人服务返回 done=True、outcome=\"a ball that came down on a hand was not caught\"，与画面一致；该返回不是 agent 自述。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 0.00–2.84 s，机器人左手手指包住原有蓝球，蓝球随左手保持在原持球位置；这是首发校准期间实际保持的抓握，不是抓住红球。" + }, + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "观察：视频 2.72–2.84 s 红球到达机器人左手上沿；log step 36 的现场裁判确认球曾落到手上但未接住。全景分辨率不能分清红球具体碰到哪根手指及受力方式，不能标为红球抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–2.84 s，机器人双脚接地支撑，首发球抵手期间没有摔倒。" + } + ] + }, + "catch_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 36, + "text_zh": "观察：已检查视频 0.00–2.84 s 全程及视频 1.80–2.84 s 的连续帧，蓝球和黄球始终留在初始左右手，只有首发红球飞向左手，没有第2次蓝球进入右手的交替抛接。现场机器人服务在 log step 36 已因首发球未接住结束本轮；推断：第1次有效接球未完成，其后的第2次有效接球事件也未发生。" + } + ] + }, + "catch_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 36, + "text_zh": "观察：已检查视频 0.00–2.84 s 全程及视频 1.80–2.84 s 的连续帧，蓝球和黄球始终留在初始左右手，只有首发红球飞向左手，没有第3次黄球进入左手的交替抛接。现场机器人服务在 log step 36 已因首发球未接住结束本轮；推断：第1次有效接球未完成，其后的第3次有效接球事件也未发生。" + } + ] + }, + "catch_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 36, + "text_zh": "观察：已检查视频 0.00–2.84 s 全程及视频 1.80–2.84 s 的连续帧，蓝球和黄球始终留在初始左右手，只有首发红球飞向左手，没有第4次红球进入右手的交替抛接。现场机器人服务在 log step 36 已因首发球未接住结束本轮；推断：第1次有效接球未完成，其后的第4次有效接球事件也未发生。" + } + ] + }, + "catch_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 36, + "text_zh": "观察：已检查视频 0.00–2.84 s 全程及视频 1.80–2.84 s 的连续帧，蓝球和黄球始终留在初始左右手，只有首发红球飞向左手，没有第5次蓝球进入左手的交替抛接。现场机器人服务在 log step 36 已因首发球未接住结束本轮；推断：第1次有效接球未完成，其后的第5次有效接球事件也未发生。" + } + ] + }, + "catch_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 36, + "text_zh": "观察：已检查视频 0.00–2.84 s 全程及视频 1.80–2.84 s 的连续帧，蓝球和黄球始终留在初始左右手，只有首发红球飞向左手，没有第6次黄球进入右手的交替抛接。现场机器人服务在 log step 36 已因首发球未接住结束本轮；推断：第1次有效接球未完成，其后的第6次有效接球事件也未发生。" + } + ] + }, + "catch_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 36, + "text_zh": "观察：已检查视频 0.00–2.84 s 全程及视频 1.80–2.84 s 的连续帧，蓝球和黄球始终留在初始左右手，只有首发红球飞向左手，没有第7次红球进入左手的交替抛接。现场机器人服务在 log step 36 已因首发球未接住结束本轮；推断：第1次有效接球未完成，其后的第7次有效接球事件也未发生。" + } + ] + }, + "catch_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 36, + "text_zh": "观察：已检查视频 0.00–2.84 s 全程及视频 1.80–2.84 s 的连续帧，蓝球和黄球始终留在初始左右手，只有首发红球飞向左手，没有第8次蓝球进入右手的交替抛接。现场机器人服务在 log step 36 已因首发球未接住结束本轮；推断：第1次有效接球未完成，其后的第8次有效接球事件也未发生。" + } + ] + }, + "catch_9": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 36, + "text_zh": "观察：已检查视频 0.00–2.84 s 全程及视频 1.80–2.84 s 的连续帧，蓝球和黄球始终留在初始左右手，只有首发红球飞向左手，没有第9次黄球进入左手的交替抛接。现场机器人服务在 log step 36 已因首发球未接住结束本轮；推断：第1次有效接球未完成，其后的第9次有效接球事件也未发生。" + } + ] + }, + "catch_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 36, + "text_zh": "观察：已检查视频 0.00–2.84 s 全程及视频 1.80–2.84 s 的连续帧，蓝球和黄球始终留在初始左右手，只有首发红球飞向左手，没有第10次红球进入右手的交替抛接。现场机器人服务在 log step 36 已因首发球未接住结束本轮；推断：第1次有效接球未完成，其后的第10次有效接球事件也未发生。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catches", + "value": null, + "unit": "次", + "threshold": 10, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "catch_1", + "t": 2.72, + "log_step": 36, + "where": "探索", + "evidence_zh": "观察：视频 2.72–2.84 s，首发红球落到机器人仍握蓝球的左手附近，未形成有效夹持，现场回合随即结束。log step 36 提交的是用于记录红球首发轨迹的校准动作：复制起始命令，仅改变左肩外展目标，保持双手原有握持命令；机器人在本次真实评分回合中进行首发轨迹探测，尚未执行交替抛接，因此失败位置为探索。现场服务返回未接住落到手上的球；之后没有现场重置或新的动作提交修复此节点。" + }, + "unmet": { + "catch_1": false, + "catch_2": false, + "catch_3": false, + "catch_4": false, + "catch_5": false, + "catch_6": false, + "catch_7": false, + "catch_8": false, + "catch_9": false, + "catch_10": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 2.72, + "log_step": 36, + "evidence_zh": "观察：视频 2.72–2.84 s，红球到达左手时，蓝球仍在该手内，未见红球被拇指与手指夹住并随手受控运动；log step 36 的现场裁判明确返回球落到手上但没有接住。推断：缺失的是接球所需的稳定夹持接触，不能把短暂碰手记为已抓住后丢失。" + } + ], + "root_causes": [], + "gap_zh": "没有逐帧状态日志或原生 catches 数值；run.json 的 reward 未报告 catches，因此原生指标值留 null。全景视频无法分辨红球与各手指的微小接触及0.05秒夹持，但现场未接住的裁判反馈与视频一致，足以判定全部接球节点为 false。log step 55 及之后的 LocalJuggleEnv 测试属于 agent 自建本地仿真，不能用其接球计数或失败原因替代现场回合；完整日志仅 log step 36 提交过现场动作，reward 也记录 resets=0、calls=3。 根因证据缺口：log step 36 的调用标签明确以记录红球首发轨迹为目的，代码仅修改左肩外展目标，不能据此假设本回合有接球意图而归为接球顺序规划错误。log step 5 展示的服务规格第1893行明确允许重置且只评分最后一回合，log step 36 仍返回 resets_left=10；因此校准回合最终成为唯一现场回合，不足以证明 agent 误解了评分规则。log step 8 的笔记已正确记录连续10次接球目标及初始持球安排；后续本地调试未提交到现场这一事实也不能单独证明任务理解、规划或交付操作错误。依据 docs/03_trajectory.md Step 3.3、TAXONOMY_v2.md 规则6及 CASES.md FAIL-22，根因留空，不从停止、预算或缺少后续提交反推。" + }, + "summary_zh": "观察：评分视频中机器人始终握着初始蓝、黄两球，只执行首发轨迹校准；视频 2.72–2.84 s 红球落到左手后未被夹住，现场裁判终止回合，10个有效接球节点均未完成，断点为第1次接球的探索阶段。观察：log step 36 明确以校准为目的，log step 5 的服务规格允许重置且只评分最后一回合，故现有证据不足以将校准行为归为接球顺序规划错误或评分规则理解错误，根因留空。观察：后续接球测试来自未提交到现场的本地仿真，且缺少逐帧接触日志及原生接球次数；根因无法可靠确定，conf由8降为7。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "WHERE 标签（全部节点 false、断点 catch_1、位置探索、接触）与视频和现场服务返回一致；问题在根因：agent 把唯一被评分的现场回合当作“记录红球轨迹的校准试验”提交，这是对任务/评分规则的误解（任务理解），而不是“接球序列规划缺失”。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "全部10个接球节点 false、断点 catch_1（探索）、接触标签均与 log step 36 的现场返回（done=True, outcome='a ball that came down on a hand was not caught', stages_reached=0）一致；根因留空并有 gap_zh，符合 FAIL-22，不再重复第1轮已处理的点。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:51:20Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--spukudk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--spukudk/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--spukudk/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--spukudk/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": 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"embodied-olympics-fun/juggle_three", + "dag_sha256": "6866d226deb20280211e64f8e3dd22d2e841dc997eece3315afe456bf7a5815b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 283, + "sim_steps": 3109, + "calls": 34, + "rows": 10500, + "resets": 10, + "reset_budget": 10, + "sim_startups": 1, + "elapsed_s": 1414.4, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 33.805, + "max_lag_s": 0.5066, + "stalls": 4, + "stalled_s": 2.021, + "stalled_share": 0.0598, + "held_steps": 0, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 9.174, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--vttxkqs/replay.mp4", + "duration_s": 2.84, + "fps": 25.0, + "frames": 71, + "sha256": "373a533d0736bad665bc89c02e63db4d875ce8de0fb190d1699f894e3aa3240f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "catch_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 117, + "text_zh": "观察：视频 0.00–2.80 s 中，红球由发球机升空后落向机器人左手；视频 2.68–2.80 s 红球经过左手内侧并继续落到手下，没有被手指夹住后随手运动。log step 117 的最终第11回合服务结果为飞行球碰身体、控制步283终止；未见首个有效接球。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 2.68–2.80 s 左手尝试承接红球，红球随后从手内侧落下；全景无法分辨红球是否擦碰手指或先碰前臂，未见抓握。log step 117 的服务确认最终发生飞球碰身体，但未指明球色或身体部位。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–2.80 s 机器人双脚着地支撑身体，站立等待并尝试接首发红球。" + } + ] + }, + "catch_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 117, + "text_zh": "观察：视频 2.40–2.56 s 机器人左手带蓝球抬起后松开，蓝球向上离手；到视频 2.80 s 结束帧未见蓝球落入右手，右手仍持初始黄球。第1次接球亦未完成，因此未达到第2次有效接球。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 0.00–2.40 s 左手包住初始蓝球，视频 2.40–2.56 s 带球抬起后松开抛出，为蓝球向右手转移作出尝试；未见右手抓住蓝球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 2.40–2.80 s 机器人双脚支撑身体完成左手抛蓝球，未摔倒。" + } + ] + }, + "catch_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 117, + "text_zh": "观察：完整视频 0.00–2.80 s 仅见首发红球落向左手及初始蓝球离手，没有后续交替接球；第3次所需的黄球由左手接稳未出现，前置接球事件也未达到。" + } + ] + }, + "catch_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 117, + "text_zh": "观察：完整视频 0.00–2.80 s 仅见首发红球落向左手及初始蓝球离手，没有后续交替接球；第4次所需的红球由右手接稳未出现，前置接球事件也未达到。" + } + ] + }, + "catch_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 117, + "text_zh": "观察：完整视频 0.00–2.80 s 仅见首发红球落向左手及初始蓝球离手，没有后续交替接球；第5次所需的蓝球由左手接稳未出现，前置接球事件也未达到。" + } + ] + }, + "catch_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 117, + "text_zh": "观察：完整视频 0.00–2.80 s 仅见首发红球落向左手及初始蓝球离手，没有后续交替接球；第6次所需的黄球由右手接稳未出现，前置接球事件也未达到。" + } + ] + }, + "catch_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 117, + "text_zh": "观察：完整视频 0.00–2.80 s 仅见首发红球落向左手及初始蓝球离手，没有后续交替接球；第7次所需的红球由左手接稳未出现，前置接球事件也未达到。" + } + ] + }, + "catch_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 117, + "text_zh": "观察：完整视频 0.00–2.80 s 仅见首发红球落向左手及初始蓝球离手，没有后续交替接球；第8次所需的蓝球由右手接稳未出现，前置接球事件也未达到。" + } + ] + }, + "catch_9": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 117, + "text_zh": "观察：完整视频 0.00–2.80 s 仅见首发红球落向左手及初始蓝球离手，没有后续交替接球；第9次所需的黄球由左手接稳未出现，前置接球事件也未达到。" + } + ] + }, + "catch_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 117, + "text_zh": "观察：完整视频 0.00–2.80 s 仅见首发红球落向左手及初始蓝球离手，没有后续交替接球；第10次所需的红球由右手接稳未出现，前置接球事件也未达到。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catches", + "value": null, + "unit": "次", + "threshold": 10, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "catch_1", + "t": 2.72, + "log_step": 117, + "where": "操作中", + "evidence_zh": "观察：视频 2.68–2.80 s 首发红球落到左手附近后继续从手下落，机器人未将其接稳；log step 117 明确为最后一次重置后的第11回合，服务在控制步283以“a ball in flight touched the body”判负。推断：失败发生在第1次接球的操作中；按log step 8的0.01 s控制周期，283步对应视频约2.83 s，与视频末段红球越过左手并结束的事件相符。" + }, + "unmet": { + "catch_1": false, + "catch_2": false, + "catch_3": false, + "catch_4": false, + "catch_5": false, + "catch_6": false, + "catch_7": false, + "catch_8": false, + "catch_9": false, + "catch_10": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 2.72, + "log_step": 117, + "evidence_zh": "观察：视频 2.56–2.80 s 左手从抛蓝球的高位返回，红球下降到左手附近时未被夹住，继续落到手下；机器人没有跟上并接稳运动中的红球。log step 117 的服务随后以飞球碰身体终止本回合。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 114 的控制器说明为在10 ms网格上定时执行的开环stand轨迹，log step 117 打印预期首个红球接球时刻并提交整段动作；视频 2.68–2.80 s 中实际红球已越过左手下落，未形成接稳。该定时动作未实现首发球所需的手球配合，支持控制层归因；没有足够证据区分手臂轨迹、闭指时序或接触几何子类。", + "source_zh": "日志" + } + ], + "gap_zh": "没有状态日志或原生有效接球计数；服务的stages_reached=0是阶段数，不能当作catches指标。全景分辨率不足以核实红球与手指/前臂的微小接触及最终碰撞部位，最终飞球碰身体由log step 117服务结果确认；控制器修改的具体补丁未保存在可读日志中，因此根因仅标控制宽类。" + }, + "summary_zh": "评分轨迹为log step 117最后一次重置后的第11回合，视频 0.00–2.80 s 中机器人站立并抛出初始蓝球，首发红球却从左手附近落下，10个接球节点均未达到。断点为第1次接球，现象为动态时机失配，服务在控制步283因飞球碰身体判负；开环定时控制未完成接稳，具体控制子类及微小接触缺少状态证据。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频一致：视频 2.2 s 蓝球在左手，2.5 s 蓝球抛起，2.7 s 红球到左手附近，2.8 s 红球落到手下，10 个接球节点均未达成；断点 catch_1、现象与控制归因有日志（log step 114/117）和服务结果支持，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:49:31Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--vttxkqs/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--vttxkqs/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0e1cd794ccd9c723f467c7dce16ae7cb71bcdebaced40de5040925c657a989db", + "video_sha256": "373a533d0736bad665bc89c02e63db4d875ce8de0fb190d1699f894e3aa3240f", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard-realtime--w5jeydv.json b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard-realtime--w5jeydv.json new file mode 100644 index 0000000000000000000000000000000000000000..2bfe22adc051f5a194fc66f2426d10e171833788 --- /dev/null +++ b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard-realtime--w5jeydv.json @@ -0,0 +1,336 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-juggle-three-i00-standard-realtime--w5jeydv", + "taskKey": "embodied-olympics-fun/juggle_three", + "dag_sha256": "6866d226deb20280211e64f8e3dd22d2e841dc997eece3315afe456bf7a5815b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 286, + "sim_steps": 1410, + "calls": 524, + "rows": 2816, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 1421.2, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 14.159, + "max_lag_s": 0.0709, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 234, + "late_steps": 0, + "requests_refused": 4, + "request_busy_s": 6.297, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--w5jeydv/replay.mp4", + "duration_s": 2.88, + "fps": 25.0, + "frames": 72, + "sha256": "915ebe78c19edb9a1e5ff3ce312b0238ff419eda03b170d51b384d7325a39071" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "catch_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.72, + "log_step": null, + "text_zh": "观察：视频 2.52–2.68 s，机器人左手张开回到红球下落处；视频 2.72 s 红球到达左手掌指附近，视频 2.76–2.84 s 又向上弹离，未见球被手指夹住并随手受控运动。" + }, + { + "t": 2.84, + "log_step": 112, + "text_zh": "观察：log step 111–112 确认最后评分回合为 episode 6，服务已结束，裁判 outcome 为“a ball that came down on a hand was not caught”，stages_reached=0；与视频 2.72–2.84 s 左手接红球未稳的画面相符。服务的阶段数不是十个接球节点的逐项计数；本节点未达依据是此次接球过程及裁判明确的未接住判词。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "托/舀", + "note_zh": "视频 2.72 s，机器人左手掌指向上承接下落红球，红球接触后弹起；属于短暂承托接触，没有证据表明拇指与另一指已形成夹持。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "视频 0.00–2.84 s，机器人双脚接地支撑身体，接红球时保持站立。" + } + ] + }, + "catch_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：视频 2.28–2.40 s，机器人左手先带蓝球上抬后张开，蓝球离手向画面右侧飞出；视频 2.52–2.84 s 蓝球持续远离两手并下降，右手仍持黄球，没有接到蓝球。" + }, + { + "t": 2.84, + "log_step": 112, + "text_zh": "推断：视频末段没有右手接住蓝球的事件，且第1次红球接球未获裁判认可（log step 112 的未接住判词）；因此第2次有效接球未达。左手抛蓝球是本节点已发生的准备动作，不等于完成接球。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频 2.28–2.36 s，机器人左手包住原先持有的蓝球并带球上抬，随后张指抛出；仅发生左手持球和释放，未发生右手接蓝球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "视频 2.28–2.84 s，机器人抛蓝球期间由双脚接地支撑身体。" + } + ] + }, + "catch_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 112, + "text_zh": "推断：视频 0.00–2.84 s 只出现初始持球、左手抛蓝球和左手未接稳首发红球，未见第3次所需的左手接黄球事件；log step 112 的最后回合裁判判词确认红球首次落手后未被接住。前序有效接球未完成，故按 DAG 次序第3次接球未达；初始持有的蓝、黄球不计为接球。" + } + ] + }, + "catch_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 112, + "text_zh": "推断：视频 0.00–2.84 s 只出现初始持球、左手抛蓝球和左手未接稳首发红球，未见第4次所需的右手接红球事件；log step 112 的最后回合裁判判词确认红球首次落手后未被接住。前序有效接球未完成，故按 DAG 次序第4次接球未达；初始持有的蓝、黄球不计为接球。" + } + ] + }, + "catch_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 112, + "text_zh": "推断：视频 0.00–2.84 s 只出现初始持球、左手抛蓝球和左手未接稳首发红球，未见第5次所需的左手接蓝球事件；log step 112 的最后回合裁判判词确认红球首次落手后未被接住。前序有效接球未完成，故按 DAG 次序第5次接球未达；初始持有的蓝、黄球不计为接球。" + } + ] + }, + "catch_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 112, + "text_zh": "推断：视频 0.00–2.84 s 只出现初始持球、左手抛蓝球和左手未接稳首发红球，未见第6次所需的右手接黄球事件；log step 112 的最后回合裁判判词确认红球首次落手后未被接住。前序有效接球未完成，故按 DAG 次序第6次接球未达；初始持有的蓝、黄球不计为接球。" + } + ] + }, + "catch_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 112, + "text_zh": "推断：视频 0.00–2.84 s 只出现初始持球、左手抛蓝球和左手未接稳首发红球，未见第7次所需的左手接红球事件；log step 112 的最后回合裁判判词确认红球首次落手后未被接住。前序有效接球未完成，故按 DAG 次序第7次接球未达；初始持有的蓝、黄球不计为接球。" + } + ] + }, + "catch_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 112, + "text_zh": "推断：视频 0.00–2.84 s 只出现初始持球、左手抛蓝球和左手未接稳首发红球，未见第8次所需的右手接蓝球事件；log step 112 的最后回合裁判判词确认红球首次落手后未被接住。前序有效接球未完成，故按 DAG 次序第8次接球未达；初始持有的蓝、黄球不计为接球。" + } + ] + }, + "catch_9": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 112, + "text_zh": "推断：视频 0.00–2.84 s 只出现初始持球、左手抛蓝球和左手未接稳首发红球，未见第9次所需的左手接黄球事件；log step 112 的最后回合裁判判词确认红球首次落手后未被接住。前序有效接球未完成，故按 DAG 次序第9次接球未达；初始持有的蓝、黄球不计为接球。" + } + ] + }, + "catch_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.84, + "log_step": 112, + "text_zh": "推断：视频 0.00–2.84 s 只出现初始持球、左手抛蓝球和左手未接稳首发红球，未见第10次所需的右手接红球事件；log step 112 的最后回合裁判判词确认红球首次落手后未被接住。前序有效接球未完成，故按 DAG 次序第10次接球未达；初始持有的蓝、黄球不计为接球。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catches", + "value": null, + "unit": "次", + "threshold": 10, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "catch_1", + "t": 2.72, + "log_step": 112, + "where": "操作中", + "evidence_zh": "观察：视频 2.72 s，机器人用左手迎接发球机抛来的红球；视频 2.76–2.84 s 红球向上弹离掌指，机器人未将其夹稳。log step 111–112 显示 episode 6 是最后回合，裁判以“落到手上的球未被接住”结束该回合，故失败步骤是第1次接球。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 2.72, + "log_step": 112, + "evidence_zh": "观察：视频 2.72–2.84 s，红球碰到机器人左手后弹起，未见稳定受控的夹球；log step 112 的最后回合反馈明确为“a ball that came down on a hand was not caught”。这里缺少的是接球要求的拇指与手指夹持，已有的掌指碰球不能算夹持已经建立，故不记为持稳后丢失。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 2.72, + "log_step": 109, + "evidence_zh": "推断：log step 109 的最终控制器在返回接球姿态后按固定时间表逐渐闭合左手；log step 111 确认执行该控制器，log step 112 打印的收指命令已逐渐增加而 holding_left 始终为0。视频 2.52–2.84 s 显示左手到达红球落点并发生碰球，却未形成稳定夹持，说明实际收指与承接动作没有实现所需接触，支持控制层归因。现有证据不足以进一步区分手指接触几何、闭合时机或执行跟踪问题。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "无状态日志；25帧/秒的全景无法分辨逐物理步的拇指、食指及中指接触与0.05秒夹持过程，故不细分控制根因。run.json 的 reward 未报告 catches 原生计数，native_metrics 对应值保留 null；服务的 stages_reached=0、stages_total=3 不直接换算成十次接球计数。agent 在 log step 119 自述闭合过晚及可能的改进，但没有已验证的修复，不能据此确定具体参数或时机根因。", + "unmet": { + "catch_1": false, + "catch_2": false, + "catch_3": false, + "catch_4": false, + "catch_5": false, + "catch_6": false, + "catch_7": false, + "catch_8": false, + "catch_9": false, + "catch_10": false + } + }, + "summary_zh": "最后评分回合中，机器人保持站立，左手先抛出蓝球，再张手迎接首发红球，但视频 2.72–2.84 s 红球碰手后弹起，裁判确认未接住，10个接球节点均未达。断点为第1次接球的操作中，所需夹持未建立，最终控制器的承接和收指动作未实现有效接球；缺少逐物理步接触记录，具体控制子因与原生 catches 数值无法核实。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频仅 2.88 s 的最后评分回合；红球 2.72 s 落到左手后弹起，裁判判词为未接住，10 个接球节点均未达、断点 catch_1 均与帧和 log step 112 一致；未发现需要改动的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:48:29Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--w5jeydv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--w5jeydv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "41a1777abd115e29b391a50dc21ecd53dd60f4682035f167f7455efe9b827a8a", + "video_sha256": "915ebe78c19edb9a1e5ff3ce312b0238ff419eda03b170d51b384d7325a39071", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard-realtime--yfckdda.json b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard-realtime--yfckdda.json new file mode 100644 index 0000000000000000000000000000000000000000..3ece7d56a5df4236dd2b9ba7c8b1881230750eb5 --- /dev/null +++ b/phase2/embodied-olympics-fun/juggle_three/trajectories/embodied-olympics-fun-juggle-three-i00-standard-realtime--yfckdda.json @@ -0,0 +1,358 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-juggle-three-i00-standard-realtime--yfckdda", + "taskKey": "embodied-olympics-fun/juggle_three", + "dag_sha256": "6866d226deb20280211e64f8e3dd22d2e841dc997eece3315afe456bf7a5815b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 352, + "sim_steps": 3430, + "calls": 3133, + "rows": 43886, + "resets": 10, + "reset_budget": 10, + "sim_startups": 1, + "elapsed_s": 6643.2, + "video_rendered": 1, + "realtime": 1, + "slowdown": 1.0, + "clock_s": 44.165, + "max_lag_s": 0.5089, + "stalls": 16, + "stalled_s": 8.048, + "stalled_share": 0.1822, + "held_steps": 0, + "late_steps": 145, + "requests_refused": 9, + "request_busy_s": 14.681, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-juggle-three-i00-standard-realtime--yfckdda/replay.mp4", + "duration_s": 3.56, + "fps": 25.0, + "frames": 89, + "sha256": "516225cfa202533c030ebd0d79f1756453f1a2b8bb761ce60d34e1f8957533eb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "catch_1": { + "method": "visual", + "intervals": [ + [ + 2.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.8, + "log_step": 170, + "text_zh": "观察：视频 2.68 s 红球降至机器人左手上方，视频 2.72–2.92 s 红球位于合拢的左手中，随后随左手向下运动，再于视频约 3.28–3.32 s 抛出；不是擦手后掉落。log step 170 的最后一局控制器也记录左手红球 holding；以画面受控运动判定首次接球，达到时刻约为视频 2.8 s，精细夹持时长无法逐物理步核实。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 2.72–3.24 s，机器人左手手指围住红球，红球随左手降低、再抬高。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚着地，站立完成首发红球的接取。" + } + ] + }, + "catch_2": { + "method": "visual", + "intervals": [ + [ + 3.28, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.28, + "log_step": 170, + "text_zh": "观察：视频 2.48–3.12 s 蓝球先从机器人左手一侧升至头顶上方，再下降至右手；视频 3.20–3.52 s 蓝球留在腹前的右手中，并未继续自由下落。log step 170 的最后一局控制器记录右手蓝球 holding，画面亦显示蓝球受右手控制。推断：第2次蓝球接球已完成，视频约 3.28 s 为夹持形成后的近似锚点；服务的 stages_reached=1/stages_total=3 并非10次接球的原生计数，不能当作只接了1次。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 3.20–3.52 s，机器人右手手指围住蓝球，蓝球保持在右手内。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚继续着地支撑身体接取蓝球。" + } + ] + }, + "catch_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.4, + "log_step": 170, + "text_zh": "观察：视频 2.76–3.08 s 黄球由机器人右手抛起并飞向左侧；视频 3.36–3.44 s 黄球到达左手掌面/指端附近，左手未围拢夹住球，视频 3.48–3.52 s 黄球已在左手下方继续下落。log step 170 中服务裁判在最后一局 episode=11、control_steps=352 时给出 failed，原因为“a ball that came down on a hand was not caught”。未见第3次有效接球。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "托/舀", + "note_zh": "观察：视频 3.36–3.44 s，机器人左手从下方承接黄球，球短暂接近/落在掌面及指端后滑出，未形成可见合手夹持；此前右手抛出黄球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚在地面支撑，黄球落手失败时仍站立。" + } + ] + }, + "catch_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.52, + "log_step": 170, + "text_zh": "观察：视频 3.20–3.32 s 机器人左手持红球抬高并抛出，视频 3.52 s 红球仍在机器人上方，右手仍持蓝球，尚未接回红球。推断：虽已为下一次红球接取作抛球准备，第3次接球未达且本局随即结束，第4次有效接球未达。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 3.20–3.28 s，机器人左手仍围住红球并向上运动，随后松手抛出；这是为第4次右手接红球所作的准备，右手接红球未发生。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人站立抛出红球，双脚着地支撑。" + } + ] + }, + "catch_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.52, + "log_step": 170, + "text_zh": "观察：视频 3.52 s 片尾机器人右手仍持蓝球、黄球已落在左手下方、红球在空中，没有继续出现后续交替抛接。推断：第3次有效接球未完成且服务在本局终止，第5次有效接球的前置序列未完成，本节点未达；不把会话中其他重置尝试计入本段录像。" + } + ] + }, + "catch_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.52, + "log_step": 170, + "text_zh": "观察：视频 3.52 s 片尾机器人右手仍持蓝球、黄球已落在左手下方、红球在空中，没有继续出现后续交替抛接。推断：第3次有效接球未完成且服务在本局终止，第6次有效接球的前置序列未完成，本节点未达；不把会话中其他重置尝试计入本段录像。" + } + ] + }, + "catch_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.52, + "log_step": 170, + "text_zh": "观察：视频 3.52 s 片尾机器人右手仍持蓝球、黄球已落在左手下方、红球在空中，没有继续出现后续交替抛接。推断：第3次有效接球未完成且服务在本局终止，第7次有效接球的前置序列未完成，本节点未达；不把会话中其他重置尝试计入本段录像。" + } + ] + }, + "catch_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.52, + "log_step": 170, + "text_zh": "观察：视频 3.52 s 片尾机器人右手仍持蓝球、黄球已落在左手下方、红球在空中，没有继续出现后续交替抛接。推断：第3次有效接球未完成且服务在本局终止，第8次有效接球的前置序列未完成，本节点未达；不把会话中其他重置尝试计入本段录像。" + } + ] + }, + "catch_9": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.52, + "log_step": 170, + "text_zh": "观察：视频 3.52 s 片尾机器人右手仍持蓝球、黄球已落在左手下方、红球在空中，没有继续出现后续交替抛接。推断：第3次有效接球未完成且服务在本局终止，第9次有效接球的前置序列未完成，本节点未达；不把会话中其他重置尝试计入本段录像。" + } + ] + }, + "catch_10": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.52, + "log_step": 170, + "text_zh": "观察：视频 3.52 s 片尾机器人右手仍持蓝球、黄球已落在左手下方、红球在空中，没有继续出现后续交替抛接。推断：第3次有效接球未完成且服务在本局终止，第10次有效接球的前置序列未完成，本节点未达；不把会话中其他重置尝试计入本段录像。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catches", + "value": null, + "unit": "次", + "threshold": 10, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "catch_3", + "t": 3.4, + "log_step": 170, + "where": "操作中", + "evidence_zh": "观察：视频 3.36–3.44 s 机器人左手伸到下落黄球下方，黄球未被手指夹住，视频 3.48–3.52 s 从左手下方落走，之后本局结束；红球和蓝球此前均已有受手控制的接取。log step 169 启动最后一次重置尝试，log step 170 服务返回 episode=11、control_steps=352、sim_time_s=3.52 及“a ball that came down on a hand was not caught”，与片尾黄球落手失败一致。" + }, + "unmet": { + "catch_1": true, + "catch_2": true, + "catch_3": false, + "catch_4": false, + "catch_5": false, + "catch_6": false, + "catch_7": false, + "catch_8": false, + "catch_9": false, + "catch_10": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 3.4, + "log_step": 170, + "evidence_zh": "观察：视频 3.36–3.44 s 黄球碰到机器人左手掌面/指端附近，但没有出现拇指与手指围住球并随手受控移动的阶段；视频 3.48–3.52 s 球在手下自由下落。log step 170 服务裁判报告落手后未接住。这里缺的是有效夹持接触，已有的短暂承托不等于先抓住后失去。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 3.4, + "log_step": 170, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频 3.36–3.44 s 机器人左手已移到黄球落点附近并发生短暂承接，却未把接触转成持续夹持；结合 log step 170 最后一局控制器持续更新左手黄球接取目标、以及服务报告落手未接住，失败属于接球动作的执行控制。没有证据表明该局选错球色、接球手或任务顺序；现有画面和日志不足以进一步区分指端几何、闭指时机与手臂跟踪误差。" + } + ], + "gap_zh": "无状态日志，录像仅25帧/秒且手指细节较小，无法核实每个物理步的拇指/手指接触及0.05秒夹持。前两次接球依据彩球入手后受控运动及最后一局控制器记录综合判断，达到时间为视觉近似；reward与服务终态未给出原生 catches 数值，故 native_metrics.catches 留空，stages_reached=1/3 不换算为接球次数。黄球失败的控制子类型不能确定。参考成功视频仅用于比较入手后持续夹持的外观，不作为本局进度证据。" + }, + "summary_zh": "评分录像对应最后一次 episode=11：机器人约在视频 2.8 s 左手接住红球，约在视频 3.28 s 右手接住蓝球，共完成2/10个接球节点。视频约 3.4 s 黄球到达左手后未形成夹持并落走，第3次接球成为断点；动作执行控制未能将短暂承托转成接稳。无状态日志和原生有效接球计数，精细接触时长及控制子类型仍有证据缺口。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "逐帧核对视频 2.4–3.56 s：红球约 2.8 s 入左手并受控、3.28 s 前后抛出；蓝球约 3.12–3.2 s 起留在右手；黄球 3.36–3.52 s 经左手上方/掌面后下落。catch_1/2 达到、catch_3 未达及断点与现象、根因（控制，已声明子类型不可定）与证据一致，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": 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"7106ce05585681ac38c1e73c2001c5bd9454352c92ffc786b637fd342ae74f32", + "video_sha256": "516225cfa202533c030ebd0d79f1756453f1a2b8bb761ce60d34e1f8957533eb", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--e6bv6uz.json b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--e6bv6uz.json new file mode 100644 index 0000000000000000000000000000000000000000..9d778341138c0139a8b39e04c386cfb0997b4bae --- /dev/null +++ b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--e6bv6uz.json @@ -0,0 +1,193 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-rugby-conversion-i00-privileged--e6bv6uz", + "taskKey": "embodied-olympics-fun/rugby_conversion", + "dag_sha256": "081cffc4f4d695f779d7796359dd6e3941fd545401eb6e3eecaa88fb6616cb9b", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 110, + "sim_steps": 110, + "horizon": 6000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 2, + "stages_total": 2, + "fell": 0, + "replay_s": 3.61, + "bad_trajectory": 0, + "metric_ball_max_z_m": 3.5, + "metric_fell_after_kick": 1.0, + "metric_plane_y_m": -2.523, + "metric_plane_z_m": 3.486, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 105, + "agent_resets": 118, + "agent_replays": 6, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.232, + "peak_processes": 7, + "peak_disk_gb": 0.252, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--e6bv6uz/replay.mp4", + "duration_s": 1.12, + "fps": 25.0, + "frames": 28, + "sha256": "1f6e8c871c6560d27779f9f1226b12cd5aa5e3656cefc12aa02be234e8bd53de" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "conversion_scored": { + "method": "visual", + "intervals": [ + [ + 1.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00 s，机器人站在黄色球座后方，米白色椭圆球仍在球座上；踢球过门尚未发生。" + }, + { + "t": 0.24, + "log_step": 140, + "text_zh": "观察：视频 0.20 s，机器人右腿向球摆动、左脚接地；视频 0.24 s，球已离开黄色球座并向前上方飞行，视频 0.28–0.40 s 继续远离机器人。log step 140 对最终交付文件的重放记录首次合法触球部位为 right_foot，裁判 kick 事件在仿真 0.207 s。" + }, + { + "t": 1.08, + "log_step": 146, + "text_zh": "观察：视频 0.80–1.08 s 的连续帧显示球在横梁上方继续向门柱方向飞行，机器人已倒在草地上；单一透视画面不能精确测量门线平面或门后距离。inputs/run.json 的评分器字段 success=1、replay_success=1、deterministic=1，越线球心高度 metric_plane_z_m=3.486 米、横向 metric_plane_y_m=-2.523 米；log step 146 对最终文件的两次独立重放均返回 kick、goal 和 success，且末态哈希相同。" + }, + { + "t": 1.1, + "log_step": 140, + "text_zh": "推断：节点于视频约 1.10 s 达成并锁存。log step 6 给出 control_dt=0.01 s，log step 140 的最终文件重放执行 110 个控制步，即仿真 1.10 s，与视频 1.12 s 的长度相符（25 fps 的帧量化差）；该重放的仿真 0.207 s 触球已在视频 0.20–0.24 s 的球离座处核对，因此其仿真 1.092 s goal/success 对应视频约 1.10 s。合法越线后继续前进至少 0.4 米的验收由评分器成功结果确认，未仅凭球在画面上高于横梁判定。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "观察：视频 0.20–0.24 s，机器人摆出的右脚踢击球座上的橄榄球，随后球向前上方飞出；log step 140 的最终重放记录触球部位 right_foot。候选接触方式：击打；现有怎么碰词表无击打，故用其他。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.16–0.28 s，机器人右腿摆动踢球时，左脚接触草地支撑身体；视频约 0.56–1.08 s，机器人在踢球后倒地，躯干接地。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plane_z_m", + "unit": "m", + "threshold": 3.0, + "direction": "higher_better", + "value": 3.486 + }, + { + "name": "plane_y_m", + "unit": "m", + "threshold": [ + -2.97, + 2.63 + ], + "direction": "target", + "value": -2.523 + }, + { + "name": "ball_max_z_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": 3.5 + } + ], + "failure": null, + "summary_zh": "机器人以右脚将球踢离球座，球持续向前上方飞行，最终重放与评分器确认“踢球过门”于视频约 1.10 s 达成，完成 1/1 个节点。视频约 0.56 s 起机器人倒地，但任务明确允许踢后跌倒，本次仍判成功，无失败断点。无状态日志，单一视角不能独立精确测量越线高度、横向位置及门后 0.4 米，数值验收依据评分器字段与最终文件重放记录；完成时刻依据控制步时钟并经触球画面核对。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "单节点成功标注与视频、评分器字段、log step 140/146 一致：球于视频约 0.24 s 离座并持续飞向横梁上方，评分器 success=1、plane_z=3.486、plane_y=-2.523；时钟换算（110 控制步×0.01 s≈视频 1.10 s）有触球处核对；contact_actual 与 DAG 一致且来自观察；无失败断点合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:39:22Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--e6bv6uz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--e6bv6uz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1db74370bcfeb28786c56f229f123885f907d637443c28f4a9870ca49cb1cac8", + "video_sha256": "1f6e8c871c6560d27779f9f1226b12cd5aa5e3656cefc12aa02be234e8bd53de", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--fvtxmzx.json b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--fvtxmzx.json new file mode 100644 index 0000000000000000000000000000000000000000..1b4688f0c444af120ec2cc8b7738f1b1bad6dcc7 --- /dev/null +++ b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--fvtxmzx.json @@ -0,0 +1,192 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-rugby-conversion-i00-privileged--fvtxmzx", + "taskKey": "embodied-olympics-fun/rugby_conversion", + "dag_sha256": "081cffc4f4d695f779d7796359dd6e3941fd545401eb6e3eecaa88fb6616cb9b", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 117, + "sim_steps": 117, + "horizon": 6000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 2, + "stages_total": 2, + "fell": 0, + "replay_s": 2.82, + "bad_trajectory": 0, + "metric_ball_max_z_m": 4.312, + "metric_plane_y_m": -1.672, + "metric_plane_z_m": 4.301, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 391, + "agent_resets": 7639, + "agent_replays": 30, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.519, + "peak_processes": 11, + "peak_disk_gb": 0.84, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--fvtxmzx/replay.mp4", + "duration_s": 1.2, + "fps": 25.0, + "frames": 30, + "sha256": "cc0735d0ca070065bb4bc350a0c98cc30b6556bbba8847c69b35bee9a45948da" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "conversion_scored": { + "method": "visual", + "intervals": [ + [ + 1.16, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.12, + "log_step": null, + "text_zh": "观察：逐帧检查视频全段；视频 0.08 s 球仍在黄色球座上，机器人一腿开始前摆；视频 0.12 s 摆动脚已伸向前方，米白色球离开球座并上升，视频 0.16–0.24 s 球继续向球门飞行，另一脚着地支撑。" + }, + { + "t": 1.16, + "log_step": null, + "text_zh": "观察：视频 0.92–1.16 s 各帧中球持续向门柱方向前进，末帧球的投影位于两白色立柱之间、横梁上方，机器人仍站立；单一斜视角不能直接量出球越线后的距离。" + }, + { + "t": null, + "log_step": 417, + "text_zh": "观察：log step 417 对最终交付文件的两次正式重放均报告 success=true、stages=[kick, goal]、executed_rows=117，末态哈希相同；其 plane_z_m=4.301、plane_y_m=-1.672、ball_max_z_m=4.312 与本次评分器 reward 完全一致，reward 另报告 replay_success=1、deterministic=1、fell=0。" + }, + { + "t": 1.16, + "log_step": 417, + "text_zh": "推断：结合视频 0.08–0.24 s 的脚踢离座、视频 0.92–1.16 s 的末段飞行和评分器成功验收，踢球过门节点在视频结束附近完成，取视频 1.16 s 为近似锚点；合法越线并继续前进至少0.4米由评分器确认，不把画面投影单独当作距离测量，也不把 agent 工作时间换算为视频时间。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "推断：视频 0.08–0.12 s 机器人摆动脚前伸，球随即从黄色球座飞出，结合正式重放的 kick 阶段确认为脚踢橄榄球。候选方式：击打；现有方式词表无踢击，故用其他，不用推/扫。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.08–0.24 s 机器人前摆一脚踢球时，另一脚接触草地支撑身体；随后摆动脚回落，机器人至视频 1.16 s 仍站立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plane_z_m", + "unit": "m", + "threshold": 3.0, + "direction": "higher_better", + "value": 4.301 + }, + { + "name": "plane_y_m", + "unit": "m", + "threshold": [ + -2.97, + 2.63 + ], + "direction": "target", + "value": -1.672 + }, + { + "name": "ball_max_z_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": 4.312 + } + ], + "failure": null, + "summary_zh": "机器人将球座上的橄榄球踢向球门，踢后保持站立，唯一节点“踢球过门”在视频末段约 1.16 s 完成，最终为1/1。评分器成功验收，越线高度4.301米、横向位置−1.672米，且最终交付的两次正式重放结果与末态哈希一致（log step 417）。无状态日志，单一斜视视频不能独立精测瞬时接触和越线后0.4米距离，完成时刻采用末段画面近似锚点，数值验收依据评分器。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "单节点成功：视频 0.1 s 起脚踢球、球飞向门柱，评分器 reward 与 log step 417 的两次重放数值一致，节点值、时间锚点、接触（其他/击打 + 支撑）均无误，无失败层符合成功运行。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:36:01Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--fvtxmzx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--fvtxmzx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b9c05335ebe3d4f366e3334502fb13cc904ed1519c8a74089dd744eec8838174", + "video_sha256": "cc0735d0ca070065bb4bc350a0c98cc30b6556bbba8847c69b35bee9a45948da", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--mcfuhhh.json b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--mcfuhhh.json new file mode 100644 index 0000000000000000000000000000000000000000..112d55c3b4b94e8e74b45551c3e12d0ef196526a --- /dev/null +++ b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--mcfuhhh.json @@ -0,0 +1,192 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-rugby-conversion-i00-privileged--mcfuhhh", + "taskKey": "embodied-olympics-fun/rugby_conversion", + "dag_sha256": "081cffc4f4d695f779d7796359dd6e3941fd545401eb6e3eecaa88fb6616cb9b", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 98, + "sim_steps": 98, + "horizon": 6000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 2, + "stages_total": 2, + "fell": 0, + "replay_s": 5.01, + "bad_trajectory": 0, + "metric_ball_max_z_m": 4.817, + "metric_plane_y_m": -0.181, + "metric_plane_z_m": 4.615, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 47, + "agent_resets": 1102, + "agent_replays": 5, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 3.136, + "peak_processes": 17, + "peak_disk_gb": 0.25, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--mcfuhhh/replay.mp4", + "duration_s": 1.0, + "fps": 25.0, + "frames": 25, + "sha256": "a187d9124ed0bd0ea40d99aeb0422a11fbff7084a4b7ca7785da38424b48f004" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "conversion_scored": { + "method": "visual", + "intervals": [ + [ + 0.96, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.2, + "log_step": 55, + "text_zh": "观察：视频 0.16–0.20 s，机器人一脚向球座挥出，另一脚着地；视频 0.24–0.36 s，米白色球已离开黄色球座并向前上方飞行。log step 55 的最终生成脚本驱动右腿踢球，随后切换站立恢复控制，与所见挥腿及恢复姿态相符。" + }, + { + "t": 0.96, + "log_step": null, + "text_zh": "观察：已逐帧检查视频 0.00–0.96 s；视频 0.76–0.96 s，球在两白色门柱之间、横梁上方的画面区域继续飞行，机器人仍站立，未见球落地。单一透视投影本身不证明球已越过门线。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：本次评分器 reward 记录 success=1、replay_success=1、deterministic=1、stages_reached=2/2，metric_plane_z_m=4.615、metric_plane_y_m=-0.181、metric_ball_max_z_m=4.817；这些是评分器的越线位置和最高球心高度读数。" + }, + { + "t": 0.96, + "log_step": null, + "text_zh": "推断：视频中的连续踢球飞行与评分器成功结果相符，故踢球过门节点达到并锁存为真；以已检查的末帧视频 0.96 s 作为近似达到时间。无状态日志，不能从单视角独立精确定位越线及门后继续前进 0.4 米的瞬间，时间仅定位到视频末尾附近。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "候选接触方式：击打；视频 0.20–0.24 s，机器人挥脚将球踢离黄色球座，随后球向前上方飞出；结合 log step 55 最终脚本识别为右脚踢击。现有接触方式词表无击打，故用其他。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "视频 0.16–0.28 s，挥腿踢球的同时，机器人另一只脚接触草地承重；结合 log step 55 最终脚本识别为左脚支撑，随后双脚恢复站立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plane_z_m", + "unit": "m", + "threshold": 3.0, + "direction": "higher_better", + "value": 4.615 + }, + { + "name": "plane_y_m", + "unit": "m", + "threshold": [ + -2.97, + 2.63 + ], + "direction": "target", + "value": -0.181 + }, + { + "name": "ball_max_z_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": 4.817 + } + ], + "failure": null, + "summary_zh": "机器人完成唯一节点“踢球过门”：视频约 0.20–0.24 s 挥脚送球离座，末尾球仍在门柱之间、横梁上方的画面区域飞行，机器人保持站立；评分器确认合法踢球与得分两个阶段均完成，越线高度为 4.615 米、横向位置为 -0.181 米。节点以视频 0.96 s 末帧附近近似记为达到，无失败断点。无状态日志，25 fps 单视角不能独立复核精确触球时刻、三维越线位置及门后 0.4 米距离，数值验收依据本次评分器记录；成功参考仅用于比较可见线索。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "单节点踢球过门标注与视频和评分器读数一致：视频约 0.2 s 球离座，末帧球在门柱间上方飞行，评分器 success=1、plane_z=4.615、plane_y=-0.181；contact_actual 为击打(其他)+支撑，无失败断点。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:36:22Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--mcfuhhh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--mcfuhhh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a6fefb5151c80a95f8810be7b67aabdcbc8bc38728ac255a596227236e2d21c4", + "video_sha256": "a187d9124ed0bd0ea40d99aeb0422a11fbff7084a4b7ca7785da38424b48f004", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--muzgcob.json b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--muzgcob.json new file mode 100644 index 0000000000000000000000000000000000000000..065d7bd38440c7a2a8499ba4dd8450e122844931 --- /dev/null +++ b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--muzgcob.json @@ -0,0 +1,188 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-rugby-conversion-i00-privileged--muzgcob", + "taskKey": "embodied-olympics-fun/rugby_conversion", + "dag_sha256": "081cffc4f4d695f779d7796359dd6e3941fd545401eb6e3eecaa88fb6616cb9b", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 512, + "sim_steps": 212, + "horizon": 6000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 2, + "stages_total": 2, + "fell": 0, + "replay_s": 3.18, + "bad_trajectory": 0, + "metric_ball_max_z_m": 6.256, + "metric_fell_after_kick": 1.0, + "metric_plane_y_m": -2.732, + "metric_plane_z_m": 6.036, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 110, + "agent_resets": 119015, + "agent_replays": 7, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 3.261, + "peak_processes": 18, + "peak_disk_gb": 0.245, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--muzgcob/replay.mp4", + "duration_s": 2.16, + "fps": 25.0, + "frames": 54, + "sha256": "602f08e831e4cacd5b95a5d86792626a930ba6b63df595bdd118e302142d55ff" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "conversion_scored": { + "method": "visual", + "intervals": [ + [ + 2.12, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.44, + "log_step": null, + "text_zh": "观察：视频 0.40 s 球仍在机器人脚前；视频 0.44–0.48 s 机器人右脚向前上方摆动，球随即离开黄色球座并升空，另一只脚在草地上支撑；视频 0.72–0.96 s 机器人踢后向后倒地，球仍继续飞行。" + }, + { + "t": 2.12, + "log_step": null, + "text_zh": "观察：已逐帧检查视频 0.00–2.12 s，包括最后一秒；球被踢出后向球门方向飞行，曾越出画面上缘，视频 1.92–2.12 s 再次可见于两门柱投影之间、横梁上方。inputs/run.json 的评分器字段 success=1、replay_success=1、deterministic=1，stages_reached=2/2，plane_z_m=6.036、plane_y_m=-2.732，分别满足高度至少 3.0 m 和横向范围 [-2.97,2.63] m。" + }, + { + "t": 2.12, + "log_step": 123, + "text_zh": "推断：log step 123 保存并重放最终方案，返回 kick、goal 两阶段、rows_used=212 和 replay_success=true；log step 124 重新生成该方案，log step 125 两次独立重放成功且末态哈希相同，指标与本次评分器记录一致。结合视频 2.12 s 末帧球仍在空中及成功后停止的交付程序，将踢球过门完成时刻近似锚定在视频 2.12 s；单一视角不能独立量出门线平面及门后 0.4 m，合法越线后继续前进的验收由评分器成功结果确认，时间存在约半秒的不确定性。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "观察：视频 0.40–0.48 s 机器人右脚向前上方踢击球座上的橄榄球，使球离座升空；候选接触方式为“击打”，现有怎么碰词表没有踢击对应项，故用其他。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.12–0.44 s 机器人抬起并摆动右腿时，左脚留在草地上支撑身体；踢球后机器人向后倾倒，视频 0.96 s 已躺倒在草地上。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plane_z_m", + "unit": "m", + "threshold": 3.0, + "direction": "higher_better", + "value": 6.036 + }, + { + "name": "plane_y_m", + "unit": "m", + "threshold": [ + -2.97, + 2.63 + ], + "direction": "target", + "value": -2.732 + }, + { + "name": "ball_max_z_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": 6.256 + } + ], + "failure": null, + "summary_zh": "机器人完成唯一节点“踢球过门”：视频约 0.44 s 右脚将球踢离球座，约视频 2.12 s 完成射门验收，评分器记录越线高度 6.036 m、横向位置 −2.732 m，成功且重放一致。机器人踢后倒地，但任务明确允许踢后跌倒，因此本次无失败断点。没有状态日志，球飞行中曾越出画面上缘，精确接触、越线及门后继续前进 0.4 m 依赖裁判记录确认，节点完成时间为近似视频锚点。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点 conversion_scored 成功、踢击接触（腿/躯干 其他+支撑）与帧所见一致，评分器字段支持 final=true，无失败断点，时间锚点已声明不确定性。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:37:45Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--muzgcob/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--muzgcob/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2e3a536f6b15d422a571db0677ca6d69ab42bea80e99264f4655fc60c40d1e6d", + "video_sha256": "602f08e831e4cacd5b95a5d86792626a930ba6b63df595bdd118e302142d55ff", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--nh6vtw8.json b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--nh6vtw8.json new file mode 100644 index 0000000000000000000000000000000000000000..f80493257e1d321c43304282a8d47d5ae77cd4e1 --- /dev/null +++ b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--nh6vtw8.json @@ -0,0 +1,193 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-rugby-conversion-i00-privileged--nh6vtw8", + "taskKey": "embodied-olympics-fun/rugby_conversion", + "dag_sha256": "081cffc4f4d695f779d7796359dd6e3941fd545401eb6e3eecaa88fb6616cb9b", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 261, + "sim_steps": 175, + "horizon": 6000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 2, + "stages_total": 2, + "fell": 0, + "replay_s": 2.89, + "bad_trajectory": 0, + "metric_ball_max_z_m": 5.267, + "metric_fell_after_kick": 1.0, + "metric_plane_y_m": -0.928, + "metric_plane_z_m": 5.026, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 20, + "agent_resets": 47, + "agent_replays": 29, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 3.394, + "peak_processes": 27, + "peak_disk_gb": 0.241, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--nh6vtw8/replay.mp4", + "duration_s": 1.76, + "fps": 25.0, + "frames": 44, + "sha256": "6e27fdeb375c463ac90ea7e607760538dcbd40442702e99a711932703ebf8c38" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "conversion_scored": { + "method": "visual", + "intervals": [ + [ + 1.72, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00–0.76 s，机器人站在黄色球座旁，米白色球仍在脚前球座上，尚未射门。" + }, + { + "t": 1.0, + "log_step": null, + "text_zh": "观察：视频 0.80–0.96 s，机器人抬腿准备挥踢；视频 1.00–1.04 s，脚部向前上方挥出，球离开原球座位置并向球门飞行。视频 1.08–1.72 s，球继续升高、向球门方向前进，末段位于画面中两柱之间且高于横梁；机器人随后倒地。" + }, + { + "t": 1.72, + "log_step": 135, + "text_zh": "观察：评分器 reward 的 success=1、replay_success=1、deterministic=1、stages_reached=2/2，metric_plane_z_m=5.026、metric_plane_y_m=-0.928；log step 135 对最终 261 行交付文件的独立重放也返回 success=True、stages=[kick,goal] 和相同越线数值。" + }, + { + "t": 1.72, + "log_step": null, + "text_zh": "推断：结合视频 1.56–1.72 s 的高空前飞球与评分器成功结果，合法踢球、合格越线及门后继续前进的完整事件已达成，约以视频末帧 1.72 s 标记达成时刻。单一斜视画面不能独立精确测量门线平面和门后 0.4 米，数值验收依据本次评分器结果，时间为近似值。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "观察：视频 0.96–1.04 s，机器人用脚向前上方踢出球座上的球。推断：结合 log step 133 的最终动作说明，击球脚为右脚。候选接触方式为“击打”，现有怎么碰词表没有击打，故用其他。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.80–1.04 s，机器人抬起击球腿、挥踢时另一只脚仍接触草地，支撑身体完成踢球。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plane_z_m", + "unit": "m", + "threshold": 3.0, + "direction": "higher_better", + "value": 5.026 + }, + { + "name": "plane_y_m", + "unit": "m", + "threshold": [ + -2.97, + 2.63 + ], + "direction": "target", + "value": -0.928 + }, + { + "name": "ball_max_z_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": 5.267 + } + ], + "failure": null, + "summary_zh": "机器人完成唯一节点“踢球过门”：视频约 1.00 s 踢出球，球随后向球门高处飞行，评分器确认合法得分及确定性重放成功，最终为 1/1。视频 1.60–1.72 s 可见机器人踢后倒地，任务规则允许该行为。无状态日志，单视角不能精确复核越线及门后 0.4 米的三维几何；节点达成时间近似取视频末帧 1.72 s，数值验收依据评分器字段。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "唯一节点 conversion_scored 达成，评分器 success=1、stages 2/2，视频 1.0 s 踢出、球高飞过两柱之间，踢后倒地被允许；接触标签（击打=其他 + 支撑）与 DAG 一致且符合帧；无失败层，合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:38:33Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--nh6vtw8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--nh6vtw8/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3c3613a1d73a2fbb54f8dd8a348889f4cd324616b1f79067fc818b6e986cb850", + "video_sha256": "6e27fdeb375c463ac90ea7e607760538dcbd40442702e99a711932703ebf8c38", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--o3pufq4.json b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--o3pufq4.json new file mode 100644 index 0000000000000000000000000000000000000000..b99dba12d11e6849f9465e91af0ef152282c4e01 --- /dev/null +++ b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--o3pufq4.json @@ -0,0 +1,186 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-rugby-conversion-i00-privileged--o3pufq4", + "taskKey": "embodied-olympics-fun/rugby_conversion", + "dag_sha256": "081cffc4f4d695f779d7796359dd6e3941fd545401eb6e3eecaa88fb6616cb9b", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 192, + "sim_steps": 192, + "horizon": 6000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 2, + "stages_total": 2, + "fell": 0, + "replay_s": 2.93, + "bad_trajectory": 0, + "metric_ball_max_z_m": 6.204, + "metric_fell_after_kick": 1.0, + "metric_plane_y_m": -0.164, + "metric_plane_z_m": 6.068, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 72, + "agent_resets": 5226, + "agent_replays": 4, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--o3pufq4/replay.mp4", + "duration_s": 1.96, + "fps": 25.0, + "frames": 49, + "sha256": "31669823088c579ae473697d4059b1f79e5102ed24ce492b07c621db4d86bc6b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "conversion_scored": { + "method": "visual", + "intervals": [ + [ + 1.92, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.92, + "log_step": null, + "text_zh": "观察：视频 0.80–0.88 s 机器人抬起右腿并向前摆动；视频 0.88 s 球仍在脚前球座处，视频 0.92–0.96 s 右脚前伸且米白色球已离座，沿前上方飞出，左脚同时接触草地支撑身体。" + }, + { + "t": 1.92, + "log_step": 39, + "text_zh": "观察：视频 1.04–1.92 s 球持续向球门方向飞行并升高，末段球位于两门柱之间的高空；机器人在球离脚后倒地。log step 39 对最终交付文件的裁判重放报告 success=true、failed=null、stages=[kick, goal]、steps=192、time_s=1.92，越线高度 plane_z_m=6.068、横向 plane_y_m=-0.164；inputs/run.json 的 reward 记录相同几何指标，replay_success=1、deterministic=1、stages_reached=2。" + }, + { + "t": 1.92, + "log_step": 39, + "text_zh": "推断：完成时刻锚定在视频 1.92 s 的末帧附近，精确几何验收由本次评分及最终文件的重放裁判确认。log step 24 的轨迹生成器使用每行 0.01 s，log step 39 最终交付重放执行 192 行，即仿真 1.92 s；与视频 1.92 s 末帧球已飞到门柱间高空、随后视频结束的事件核对一致，按该控制时钟对应关系定位，帧采样误差约 0.04 s。单一斜视画面不能独立测量门后继续前进 0.4 米，不把视频中仅高于横梁的投影当作独立得分证据。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "观察：视频 0.88–0.96 s 机器人右脚摆向球座上的橄榄球，球随即向前上方离座。候选接触方式：击打；这是脚踢的瞬时冲击，现有方式词表无击打，使用其他。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.80–1.08 s 机器人右腿抬起并踢球时，左脚落在草地上支撑身体；视频 1.28–1.44 s 身体侧倒落地，随后躯干贴地至视频 1.92 s，均发生在球离脚之后。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plane_z_m", + "unit": "m", + "threshold": 3.0, + "direction": "higher_better", + "value": 6.068 + }, + { + "name": "plane_y_m", + "unit": "m", + "threshold": [ + -2.97, + 2.63 + ], + "direction": "target", + "value": -0.164 + }, + { + "name": "ball_max_z_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": 6.204 + } + ], + "failure": null, + "summary_zh": "机器人约在视频 0.92 s 用右脚踢出球座上的橄榄球，完成唯一节点“踢球过门”，完成锚点为视频 1.92 s 附近。最终交付重放与评分器均确认成功，越线球心高度 6.068 米、横向位置 -0.164 米；视频显示踢后倒地，任务允许该行为。无状态日志，瞬时接触及门后继续前进 0.4 米不能由单一斜视视频独立精确复核，数值验收依据本次裁判记录。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "单节点标签与视频和评分器数值一致：球约在视频 0.92 s 离座，踢后倒地，1.92 s 球在门柱间高空；接触标签与 DAG 一致，时钟为视频时间和控制步 1.92 s，无失败层。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:36:35Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--o3pufq4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--o3pufq4/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "042e8b4ad8b76dda8e7cd9e3827d0bb8e3e01c54f44771698603f6c8f4e44d12", + "video_sha256": "31669823088c579ae473697d4059b1f79e5102ed24ce492b07c621db4d86bc6b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--wgwalht.json b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--wgwalht.json new file mode 100644 index 0000000000000000000000000000000000000000..5e9abad53a0c49a02527613343cfa26a62578059 --- /dev/null +++ b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--wgwalht.json @@ -0,0 +1,185 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-rugby-conversion-i00-privileged--wgwalht", + "taskKey": "embodied-olympics-fun/rugby_conversion", + "dag_sha256": "081cffc4f4d695f779d7796359dd6e3941fd545401eb6e3eecaa88fb6616cb9b", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 124, + "sim_steps": 124, + "horizon": 6000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 2, + "stages_total": 2, + "fell": 0, + "replay_s": 2.83, + "bad_trajectory": 0, + "metric_ball_max_z_m": 6.079, + "metric_plane_y_m": -0.206, + "metric_plane_z_m": 6.073, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 79, + "agent_resets": 85196, + "agent_replays": 20, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--wgwalht/replay.mp4", + "duration_s": 1.28, + "fps": 25.0, + "frames": 32, + "sha256": "646213dd7afbd8b9f4dcf0c4c9cb1dfda192b82c61f2f289092affc5ce202070" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "conversion_scored": { + "method": "visual", + "intervals": [ + [ + 1.24, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.08, + "log_step": null, + "text_zh": "观察：视频 0.00–0.08 s，米白色橄榄球起初立在黄色球座上，机器人向前摆动右腿，右脚到达球下部；视频 0.12–0.28 s，球已离座并向球门方向快速上升，机器人随后收腿。" + }, + { + "t": 1.24, + "log_step": null, + "text_zh": "观察：逐帧查看视频 0.00–1.24 s；视频 1.08–1.24 s 的小球位于画面上部、两根门柱之间且明显高于横梁，机器人仍以双脚站立。inputs/run.json 的 reward 记录 success=1、replay_success=1、deterministic=1、stages_reached=2/2，metric_plane_z_m=6.073、metric_plane_y_m=-0.206。" + }, + { + "t": 1.24, + "log_step": 221, + "text_zh": "推断：视频中离座、上升及末段球的位置与裁判成功结果一致，故踢球过门节点达成；以已检查的视频末帧 1.24 s 作为约略达成锚点，不把二维投影当作精确越线几何。log step 221 输出最终交付轨迹为 124 行、success=true、exact_regeneration=true，且越线指标与评分字段相同；log step 224 的校验输出确认最终文件两次重放成功且末态一致。未将 agent 工作时间换算为视频时间。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "观察：视频 0.04–0.12 s，机器人右脚前摆至球下部，球随即离开黄色球座；候选方式为“击打”，现有怎么碰词表没有踢击对应值，故用其他。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.04–0.16 s，机器人以左脚接触草地支撑身体，同时右脚踢球；随后右脚落下，视频 0.28–1.24 s 机器人以双脚支撑保持站立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plane_z_m", + "unit": "m", + "threshold": 3.0, + "direction": "higher_better", + "value": 6.073 + }, + { + "name": "plane_y_m", + "unit": "m", + "threshold": [ + -2.97, + 2.63 + ], + "direction": "target", + "value": -0.206 + }, + { + "name": "ball_max_z_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": 6.079 + } + ], + "failure": null, + "summary_zh": "机器人完成“踢球过门”节点，最终进度为 1/1：视频 0.08–0.12 s 右脚将球踢离球座，末段球在两门柱之间的高处，机器人保持站立。评分器确认成功及确定性重放，越线球心高度为 6.073 米、横向位置为 -0.206 米。无状态日志，单一远景不能独立精确复核瞬时接触及越线后继续前进 0.4 米；这些验收依裁判结果确认，达成时间保守锚定于视频 1.24 s 末帧。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，单节点 conversion_scored 达成，终值 1 与评分器 success=1、越线高度 6.073 m、横向 -0.206 m 一致；接触（腿/躯干 其他击打 + 支撑）与视频相符；无失败标签正确。达成时间锚定在末帧 1.24 s 偏保守，但已在证据中说明为约略锚点。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:38:06Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--wgwalht/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--wgwalht/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8eff9ff426e2bcd4963a01681e876e908924928d164f1ff840002a541fa0a032", + "video_sha256": "646213dd7afbd8b9f4dcf0c4c9cb1dfda192b82c61f2f289092affc5ce202070", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--wqpeoxq.json b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--wqpeoxq.json new file mode 100644 index 0000000000000000000000000000000000000000..0104e6c6994c9cef619dda3865e289d157b64ad9 --- /dev/null +++ b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-privileged--wqpeoxq.json @@ -0,0 +1,188 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-rugby-conversion-i00-privileged--wqpeoxq", + "taskKey": "embodied-olympics-fun/rugby_conversion", + "dag_sha256": "081cffc4f4d695f779d7796359dd6e3941fd545401eb6e3eecaa88fb6616cb9b", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 167, + "sim_steps": 167, + "horizon": 6000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 2, + "stages_total": 2, + "fell": 0, + "replay_s": 3.05, + "bad_trajectory": 0, + "metric_ball_max_z_m": 4.812, + "metric_fell_after_kick": 1.0, + "metric_plane_y_m": -0.803, + "metric_plane_z_m": 4.784, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 14, + "agent_resets": 10, + "agent_replays": 14, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 2.257, + "peak_processes": 16, + "peak_disk_gb": 0.981, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--wqpeoxq/replay.mp4", + "duration_s": 1.68, + "fps": 25.0, + "frames": 42, + "sha256": "afa4d8effa1abf41ce82f1449273cab5b3f32474cf4cd8fd02f8161ea395c6db" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "conversion_scored": { + "method": "visual", + "intervals": [ + [ + 1.64, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.64, + "log_step": null, + "text_zh": "观察：逐帧检查视频全段；视频 0.56–0.64 s 球仍立在黄色球座，机器人抬起右腿，视频 0.68 s 球已离座升空，视频 0.72–0.80 s 右腿继续向前上方随挥，左脚留在草地上支撑。" + }, + { + "t": 1.64, + "log_step": 217, + "text_zh": "观察：视频 1.20–1.64 s 球持续向球门飞行，末段球在画面中位于两根白色门柱之间、横梁上方，机器人已倒在草地上；log step 217 对最终交付的167行轨迹进行两次重放，均报告 success=True、stages=[kick, goal] 且末态哈希一致。run.json 评分器字段 success=1、replay_success=1、deterministic=1，越线球心高度4.784米、横向位置−0.803米。" + }, + { + "t": 1.64, + "log_step": null, + "text_zh": "推断：结合视频 1.44–1.64 s 的飞行画面和评分器成功结果，合法脚踢、合格越线及越线后继续前进0.4米的联合条件在录像末段完成；以视频 1.64 s 作近似达成锚点。单一透视画面不能独立确定精确越线时刻和门后距离，节点终值由评分器验收补足，时间约有0.1秒不确定性。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "观察：视频 0.64–0.68 s 机器人右脚向前上方踢击球座上的米白色橄榄球，球立即离座；候选接触方式：击打，现有怎么碰词表没有击打。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.64–0.80 s 机器人右腿踢球及随挥时，左脚接触草地支撑身体。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plane_z_m", + "value": 4.784, + "unit": "m", + "threshold": 3.0, + "direction": "higher_better" + }, + { + "name": "plane_y_m", + "value": -0.803, + "unit": "m", + "threshold": [ + -2.97, + 2.63 + ], + "direction": "target" + }, + { + "name": "ball_max_z_m", + "value": 4.812, + "unit": "m", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "机器人以右脚完成一次定点射门，踢球过门节点在视频末段约 1.64 s 达成，最终为1/1；评分器确认越线高度4.784米、横向位置−0.803米且重放成功。视频 1.20–1.64 s 显示机器人踢后倒地，本任务允许踢后跌倒，成功参考录像也呈现这一行为。无状态日志，单一固定视角无法独立精确核验瞬时触点、门线平面及门后0.4米，数值验收依据本次评分器字段，节点时间为近似锚点。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "单节点 conversion_scored 终值 true 由评分器字段（success=1、plane_z 4.784、plane_y −0.803）和视频踢球-飞行-倒地画面支持；时间锚点、contact_actual（击打+支撑）、无 failure 均合理，未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:37:32Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--wqpeoxq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-privileged--wqpeoxq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "717455049dc77027427edf95a0cfeb178fa515b4d85ba298689abd9a28882895", + "video_sha256": "afa4d8effa1abf41ce82f1449273cab5b3f32474cf4cd8fd02f8161ea395c6db", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-standard--ajzhxim.json b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-standard--ajzhxim.json new file mode 100644 index 0000000000000000000000000000000000000000..9f68a6b2e4bc25ded7ac0d9e03f4c0ab74479354 --- /dev/null +++ b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-standard--ajzhxim.json @@ -0,0 +1,209 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-rugby-conversion-i00-standard--ajzhxim", + "taskKey": "embodied-olympics-fun/rugby_conversion", + "dag_sha256": "081cffc4f4d695f779d7796359dd6e3941fd545401eb6e3eecaa88fb6616cb9b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 52, + "sim_steps": 253, + "calls": 19, + "rows": 253, + "resets": 4, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 6708.7, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 1, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 9.207, + "peak_processes": 38, + "peak_disk_gb": 0.394, + "resource_emergency_kills": 0, + "resource_oom_kills": 5, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "over_oom": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-rugby-conversion-i00-standard--ajzhxim/replay.mp4", + "duration_s": 0.56, + "fps": 25.0, + "frames": 14, + "sha256": "1b928f6e4254fbd9684939c8a065feb456f1794eab057d0a38465d6e5b0f9ffa" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "conversion_scored": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00–0.52 s 的全部14帧中，机器人在黄色球座旁抬右腿、摆腿，随后身体持续前倾至近乎水平；米白色橄榄球始终位于球座附近，未出现向门柱飞行或过门。" + }, + { + "t": 0.52, + "log_step": 1089, + "text_zh": "观察：log step 1089 是第5次现场执行，重置后服务累计行数从201增至253，本局执行52个控制步；服务裁判（机器人 API 返回的 meta.outcome）判定“the ball was touched by something other than a foot”，stages_reached=0、stages_total=2，未认定合法踢球或得分。该局行数与评分字段 n_actions=52、rows=253、resets=4 一致；视频末帧 0.52 s 同样显示机器人扑向仍在球座附近的球。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00–0.28 s，机器人双脚起始接触草地，抬右腿和摆腿时由左脚支撑身体；随后支撑未能保持身体平衡。未把计划中的脚踢记为已发生的触球。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 1089 的现场裁判确认发生非脚部触球；视频 0.48–0.52 s 中倒下的机器人与球重叠，无法区分具体是手臂、躯干还是不允许的小腿区域接触球，故此接触的作用端与方式保留未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plane_z_m", + "unit": "m", + "threshold": 3.0, + "direction": "higher_better", + "value": null + }, + { + "name": "plane_y_m", + "unit": "m", + "threshold": [ + -2.97, + 2.63 + ], + "direction": "target", + "value": null + }, + { + "name": "ball_max_z_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "conversion_scored", + "t": 0.36, + "log_step": 1089, + "where": "操作中", + "evidence_zh": "观察：视频 0.28 s 后机器人摆腿时开始明显向前倾倒，视频 0.36–0.52 s 身体降至近乎水平，球仍在球座附近，射门未完成且未恢复；log step 1089 的现场裁判以非脚部触球结束第5局，原生阶段0/2。" + }, + "unmet": { + "conversion_scored": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 0.36, + "log_step": 1089, + "evidence_zh": "观察：视频 0.32–0.52 s，机器人摆腿过程中躯干持续向前翻倒、后方腿抬高，末帧上身已降到球座附近；球没有被合法踢出。log step 1089 服务随后判非脚部触球，而不是成功。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "log_step": 1084, + "t": 0.36, + "evidence_zh": "推断：log step 1084 的控制脚本预先生成右髋驱动、膝伸展及固定随挥的关节目标，并一次提交，执行期间没有依据观测修正支撑姿态；log step 1089 确认该脚本已在第5局执行。结合视频 0.28–0.52 s 摆腿时不可恢复的前倾以及现场非脚部触球判罚，归为射门动作的控制失败；现有证据不足以区分接触设计、轨迹跟踪或具体参数问题。" + } + ], + "gap_zh": "无状态日志，视频分辨率与单一场地视角不能确定非脚部触球的具体机器人部位及瞬时接触力，不能据此添加已发生脚踢的接触。评分字段未报告 plane_z_m、plane_y_m、ball_max_z_m，三项保留 null；本地仿真中的越线高度及接触结果不作为评分局进度证据。" + }, + "summary_zh": "评分局只完成了抬腿和摆腿动作，随后机器人向前失衡，球留在球座附近，“踢球过门”最终为0/1。断点位于射门操作中，视频 0.32–0.52 s 可见持续前倒，log step 1089 的现场裁判判非脚部触球、原生阶段0/2；结合执行脚本归为控制失败。无状态日志，无法确定具体非法触球部位或更细的控制子因，亦无原生几何指标数值。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标注与视频和日志一致：视频0.56 s内机器人摆腿后前倾倒下，球仍在球座附近；log step 1089 服务判非脚部触球、阶段0/2。节点未达成、断点、平衡现象和控制根因均有证据支持，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:34:34Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-standard--ajzhxim/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-standard--ajzhxim/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e163e5bf773042307fab9dd850a838b2d8c80a4ababb242bd47390f7ba968154", + "video_sha256": "1b928f6e4254fbd9684939c8a065feb456f1794eab057d0a38465d6e5b0f9ffa", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-standard--benwjnq.json b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-standard--benwjnq.json new file mode 100644 index 0000000000000000000000000000000000000000..7f6624670fdaefba54b3f0d1fa187d3e1a7c7ad5 --- /dev/null +++ b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-standard--benwjnq.json @@ -0,0 +1,209 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-rugby-conversion-i00-standard--benwjnq", + "taskKey": "embodied-olympics-fun/rugby_conversion", + "dag_sha256": "081cffc4f4d695f779d7796359dd6e3941fd545401eb6e3eecaa88fb6616cb9b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 90, + "sim_steps": 5828, + "calls": 195, + "rows": 3219, + "resets": 50, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 2875.7, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.537, + "peak_processes": 10, + "peak_disk_gb": 1.064, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-rugby-conversion-i00-standard--benwjnq/replay.mp4", + "duration_s": 0.92, + "fps": 25.0, + "frames": 23, + "sha256": "418c2cc2f622cab0e06a8b2f4cc745733cb3e628fb673632b12cef01d59e5518" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "conversion_scored": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.16, + "log_step": 246, + "text_zh": "观察：逐帧检查视频 0.00–0.88 s；视频 0.12 s 机器人右脚向球座上的米白色球摆动，视频 0.16 s 球已离座向前上方飞出，黄色球座留在原处。log step 246 是最后一次重置后的 episode 51，服务接受 25 行 lowcmd 并继续观察至本局结束，原生阶段仅达到 1/2。" + }, + { + "t": 0.88, + "log_step": 246, + "text_zh": "观察：视频 0.52–0.88 s 球飞向球门，末帧中球在两门柱之间的画面区域、明显低于横梁；机器人在踢球后逐渐前倾并倒地。log step 246 的现场裁判返回 done=true、reason=failed，outcome 为“the ball passed under the crossbar or outside the posts”；reward.live_success=0，graded_by_live=1。" + }, + { + "t": 0.88, + "log_step": 246, + "text_zh": "推断：末段球路与现场裁判的越线判负相符，踢球过门事件没有达成。成功参考视频 0.00–1.08 s 已逐帧对照，仅用于识别同一固定视角中的飞行和门框；本次是否得分以本次视频及 log step 246 的裁判结果为依据，不能把离座或原生阶段 1/2 当作本节点完成。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "观察：视频 0.12–0.16 s 机器人右脚摆向橄榄球并将其踢离黄色球座，随后脚与球分离。候选方式：击打；词表没有专用击打值，不能以推/扫代替。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.12–0.24 s 右脚前摆踢球时，机器人另一只脚（左脚）仍接触草地，支撑身体；后续前倾倒地发生在球离脚之后。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plane_z_m", + "unit": "m", + "threshold": 3.0, + "direction": "higher_better", + "value": null + }, + { + "name": "plane_y_m", + "unit": "m", + "threshold": [ + -2.97, + 2.63 + ], + "direction": "target", + "value": null + }, + { + "name": "ball_max_z_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "conversion_scored", + "t": 0.16, + "log_step": 246, + "where": "操作中", + "evidence_zh": "观察：视频 0.12–0.16 s 机器人开始并完成脚踢，之后球持续前飞；视频 0.52–0.88 s 球路处于横梁下方的画面区域。log step 246 的最后一局裁判只确认踢球阶段，继而以“横梁下方或门柱外越线”结束，未出现得分阶段；故断在踢球过门步骤，视频 0.16 s 为这次未命中射门的起飞锚点。" + }, + "unmet": { + "conversion_scored": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 0.16, + "log_step": 246, + "evidence_zh": "观察：视频 0.16 s 球被脚踢出，视频 0.52–0.88 s 球飞向门框但始终处在横梁下方的画面区域；log step 246 的现场裁判明确判为球从横梁下方或门柱外越线。推断：结合末段球路，射门高度不足最符合本次可见偏差，属于未命中目标窗口的位姿不准，精确越线高度与横向位置未报告。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：agent 在 log step 246 明确选择增强向前、向上的随摆并及时收脚，服务实际执行了该 lowcmd 射门且无裁剪（n_clipped=0）；视频 0.12–0.16 s 显示脚已触发球离座，视频 0.52–0.88 s 的球路却未达到横梁上方，现场裁判判越线位置不合格。目标和合法脚踢方向明确，实际踢击未产生所需球路，支持控制层归因；日志未提供足以区分接触几何、出脚速度或关节跟踪的本局测量。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志；固定远景能看出球离座和低于横梁的投影，但不能精确测量触球点、冲量、越线高度及横向位置。run.json 的 reward 与最后一局服务输出均未报告 plane_z_m、plane_y_m、ball_max_z_m，三项原生指标保留 null；控制根因只能停留在大类，不能确定具体参数或接触设计。" + }, + "summary_zh": "评分对应 log step 246 最后一次重置后的 episode 51：机器人右脚在视频约 0.12–0.16 s 将球踢离球座，但踢球过门节点始终未达成，最终 0/1。视频末段球路偏低，现场裁判判球从横梁下方或门柱外越线，断点为踢球过门，现象为位姿不准，根因支持控制大类；踢后倒地在本任务中允许。没有状态日志或本局越线数值，具体接触与速度误差无法进一步判定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签与视频及 log step 246 一致：视频 0.12–0.16 s 右脚将球踢离球座，球飞行但被现场裁判判为从横梁下方或门柱外越线，节点未达成，断点和现象与证据相符，未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:46:54Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-standard--benwjnq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-standard--benwjnq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4f1f234c483af7c36dbf1d2943f185d72faec84e5623272b404d04de456ae37f", + "video_sha256": "418c2cc2f622cab0e06a8b2f4cc745733cb3e628fb673632b12cef01d59e5518", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-standard--d5nuxwv.json b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-standard--d5nuxwv.json new file mode 100644 index 0000000000000000000000000000000000000000..e8cf17500c91aa99f82efffdeb16cf016984c84d --- /dev/null +++ b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-standard--d5nuxwv.json @@ -0,0 +1,187 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-rugby-conversion-i00-standard--d5nuxwv", + "taskKey": "embodied-olympics-fun/rugby_conversion", + "dag_sha256": "081cffc4f4d695f779d7796359dd6e3941fd545401eb6e3eecaa88fb6616cb9b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 2, + "sim_steps": 2, + "calls": 4, + "rows": 2, + "resets": 0, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 841.0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.763, + "peak_processes": 8, + "peak_disk_gb": 0.297, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-rugby-conversion-i00-standard--d5nuxwv/replay.mp4", + "duration_s": 0.04, + "fps": 25.0, + "frames": 1, + "sha256": "94330dc2c0eb6069d9a6e6b5ecf399a501ddb9ddfe251f37cadf19d2bb39e2ad" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "conversion_scored": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：本次视频仅有视频 0.00 s 一帧（总时长 0.04 s），全帧及机器人脚边放大图显示机器人直立，米白色椭圆球仍在脚前黄色球座上，没有球离座或过门的画面。" + }, + { + "t": null, + "log_step": 21, + "text_zh": "观察：agent 向现场机器人服务提交初始站姿的一行 stand 指令，dt=0.01；服务返回仿真 0.01 s、done=False。" + }, + { + "t": null, + "log_step": 24, + "text_zh": "观察：agent 向同一现场服务提交初始腿部与上肢姿态的一行 joints 指令，dt=0.01；服务返回仿真 0.02 s、done=False。reward 记录 n_actions=2、sim_steps=2、rows=2、resets=0；此后日志没有现场踢球提交，末尾 log step 38 为提供方过滤器中断。" + }, + { + "t": null, + "log_step": 24, + "text_zh": "推断：结合本次视频中球仍在座上、全部两行现场控制均为站姿诊断，踢球过门事件没有发生；不是仅由 success=0 推断未完成。仿真时刻未换算为视频时刻。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plane_z_m", + "unit": "m", + "threshold": 3.0, + "direction": "higher_better", + "value": null + }, + { + "name": "plane_y_m", + "unit": "m", + "threshold": [ + -2.97, + 2.63 + ], + "direction": "target", + "value": null + }, + { + "name": "ball_max_z_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 38, + "where": "首步前", + "evidence_zh": "观察：log step 38 的末条消息明确写明请求被 Gemini 过滤器阻断；此前 log step 24 的现场服务返回 done=False，随后至 log step 37 均为本地建模和诊断，没有后续现场射门动作或完成验收记录。本次视频 0.00 s 唯一帧中机器人直立、球仍在座上。推断：过滤器在有效射门结果确定前截断会话，未见中断前的物理失败，按外因中断规则将断点记为 unknown／首步前。" + }, + "unmet": { + "conversion_scored": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：log step 38 记录 Gemini 提供方过滤器中断；最后现场反馈为 log step 24 的 done=False，仅执行两个站姿诊断控制步。本次有视频，但仅一帧、总时长 0.04 s；没有状态日志，reward 未报告 plane_z_m、plane_y_m 或 ball_max_z_m。推断：中断发生在射门结果确定之前，没有足够执行证据归因于机器人；按外因中断规则不标“没尝试”，现象与根因均留空，宜重试并排除出 agent 失败分析。未开始射门节点，故省略 contact_actual，不将初始双脚站立的背景支撑记作踢球接触。" + }, + "summary_zh": "本次视频 0.00 s 唯一帧显示机器人站在球座旁、球仍在座上，踢球过门节点未达成，最终进度为 0/1。现场服务只执行两个站姿诊断控制步（log step 21、24），最后仍返回 done=False，随后会话在 log step 38 被 Gemini 提供方过滤器截断；属于结果确定前的外因中断，断点记 unknown／首步前，现象与根因留空。视频仅 0.04 s、无状态日志，缺少完整射门执行和裁判几何指标，应重试且不纳入 agent 失败归因。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 9, + "summary_zh": "外因（提供方过滤器）在射门前截断，视频唯一帧球仍在座上；节点 false、断点 unknown/首步前、双层留空并有 gap_zh，均符合 03 第5条，未发现需改动之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:38:59Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-standard--d5nuxwv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-standard--d5nuxwv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8edd2fa817b4a421aa67dcd90d8e61bbd5d5a6b793961e999c1bd7e2b2e6b5d1", + "video_sha256": "94330dc2c0eb6069d9a6e6b5ecf399a501ddb9ddfe251f37cadf19d2bb39e2ad", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-standard--jvrc4wd.json b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-standard--jvrc4wd.json new file mode 100644 index 0000000000000000000000000000000000000000..505693e2413904b75b2ac0a4d01e1017bf7d511e --- /dev/null +++ b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-standard--jvrc4wd.json @@ -0,0 +1,204 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-rugby-conversion-i00-standard--jvrc4wd", + "taskKey": "embodied-olympics-fun/rugby_conversion", + "dag_sha256": "081cffc4f4d695f779d7796359dd6e3941fd545401eb6e3eecaa88fb6616cb9b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 120, + "sim_steps": 1586, + "calls": 33, + "rows": 1586, + "resets": 13, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 4894.1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.84, + "peak_processes": 23, + "peak_disk_gb": 2.536, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-rugby-conversion-i00-standard--jvrc4wd/replay.mp4", + "duration_s": 1.24, + "fps": 25.0, + "frames": 31, + "sha256": "1b42e6f1ebd45aed00b4c56714b3d518e08a3c9a953b566f056e9f660805083a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "conversion_scored": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.56, + "log_step": null, + "text_zh": "观察：视频 0.00–0.48 s 球仍在黄色球座上；视频 0.52–0.56 s 机器人右腿向前踢击，球离开球座，随后向门方向低飞。" + }, + { + "t": 1.2, + "log_step": 296, + "text_zh": "观察：视频 0.80–1.20 s 球下降，末帧仍在门线前并落至草地，未见球从横梁上方越过门线。log step 294 写出最终轨迹，log step 296 重置后执行该轨迹，机器人服务返回 stages_reached=1、stages_total=2、failed，原因为“the ball touched the ground before it scored”，与此视频一致；原生踢球阶段完成不等于 DAG 的踢球过门节点完成。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "观察：视频 0.52–0.60 s 机器人右脚及踝附近下肢扫过球座上的橄榄球，球随之飞出；候选接触方式为“击打”，词表无专用击打值，不能以推/扫替代。画面不能精确分辨脚面与踝上小腿的先后接触。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.36–0.60 s 机器人抬起右腿摆动时，左脚仍接触草地支撑身体；踢球后机器人向后倒下。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plane_z_m", + "unit": "m", + "threshold": 3.0, + "direction": "higher_better", + "value": null + }, + { + "name": "plane_y_m", + "unit": "m", + "threshold": [ + -2.97, + 2.63 + ], + "direction": "target", + "value": null + }, + { + "name": "ball_max_z_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "conversion_scored", + "t": 0.56, + "log_step": 296, + "where": "操作中", + "evidence_zh": "观察：视频 0.52–0.60 s 机器人将球踢出，但视频 0.64–1.20 s 球只在低处飞行，未到门线即下降触地。log step 296 的最终执行返回“得分前球触地”，本次射门没有完成踢球过门；视频 0.56 s 作为这次未成功射门的起飞锚点。" + }, + "unmet": { + "conversion_scored": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 0.56, + "log_step": 296, + "evidence_zh": "观察：视频 0.56–0.84 s 球离座后飞行高度明显低于横梁，视频 0.88–1.20 s 球在门线前下降并触地，射门轨迹过低且落点过近。log step 296 的机器人服务以“the ball touched the ground before it scored”判失败。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：视频 0.52–1.20 s 显示机器人已建立踢球接触、球向正确的门方向飞出，但这组摆腿控制产生的送球效果不足以使球在落地前到达横梁上方的门线。log step 294 记录最终选择 v8 关节目标轨迹，log step 296 实际执行后仍只完成踢球阶段；因此归为踢球控制问题。无实际触点和速度日志，不能进一步确定为接触设计、跟踪误差或特定参数错误。", + "source_zh": "视频" + } + ], + "gap_zh": "没有状态日志，场地远景仅能定位下肢触球和低飞落地，不能复核实际接触点、冲量及三维起飞速度。agent 在 log step 283、304 将低平发射归因于小腿先接触球心高度，但其局部仿真及自述不能确证最终评分尝试的接触几何，故根因不细分。评分字段未报告 plane_z_m、plane_y_m、ball_max_z_m，均记 null。" + }, + "summary_zh": "机器人在视频约 0.52–0.56 s 将球踢离球座，但球低飞后在视频 1.20 s 于门线前触地，踢球过门节点始终未达成，最终为 0/1；log step 296 的最终尝试反馈与视频一致。断点是射门操作中的位姿不准，归因于未产生足够送球效果的踢球控制；踢后倒地在此任务中允许，不另标失败。缺少实际触点和三维速度记录，无法进一步细分控制根因，三个原生指标也未报告。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频 0.52–0.60 s 踢球、球低飞后在视频约 1.2 s 门线前落地，与 log step 296 的服务返回（stages_reached=1/2，球先触地）一致；节点未达成、断点、位姿不准和控制根因均有证据支持，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:34:07Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-standard--jvrc4wd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-standard--jvrc4wd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7c634babec6bb19d49cc7df4db17851d31f38b64b01404e6daf81c1bebda67c5", + "video_sha256": "1b42e6f1ebd45aed00b4c56714b3d518e08a3c9a953b566f056e9f660805083a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-standard--k7tizbb.json b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-standard--k7tizbb.json new file mode 100644 index 0000000000000000000000000000000000000000..4ec1d6952f48114e5d0f1cc88312b34d39548c11 --- /dev/null +++ b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-standard--k7tizbb.json @@ -0,0 +1,233 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-rugby-conversion-i00-standard--k7tizbb", + "taskKey": "embodied-olympics-fun/rugby_conversion", + "dag_sha256": "081cffc4f4d695f779d7796359dd6e3941fd545401eb6e3eecaa88fb6616cb9b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 335, + "sim_steps": 2004, + "calls": 11, + "rows": 2004, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 6743.5, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 2.436, + "peak_processes": 13, + "peak_disk_gb": 2.556, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-rugby-conversion-i00-standard--k7tizbb/replay.mp4", + "duration_s": 3.36, + "fps": 25.0, + "frames": 84, + "sha256": "211ecdf54bc226d967972b95251d45551e6c187eb65f57e4229407f7f693b500" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "conversion_scored": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.72, + "log_step": null, + "text_zh": "观察：视频 0.00–2.56 s，米白色球直立于黄色球座上；视频 2.64–2.96 s，机器人摆动右腿并前倾，球仍在原球座位置。" + }, + { + "t": 3.2, + "log_step": null, + "text_zh": "观察：逐帧检查视频 3.00–3.32 s，机器人上身快速向前下方倾倒，腿向后伸出，近侧手臂下降到球座附近；视频 3.24 s 球仍在球座附近，随后被身体遮挡。全片未出现球被踢出后升高、飞向门柱的过程。" + }, + { + "t": null, + "log_step": 119, + "text_zh": "观察：log step 119 读取首次提交（log step 118）的服务结果，outcome=\"the ball was touched by something other than a foot\"、stages_reached=0、done=True、reason=failed；log step 120 读取同次服务记录，episode=1、rows=executed_rows=control_steps=336、sim_time_s=3.36。录像为 84 帧、25 fps、时长 3.36 s（inputs/video.json）。推断：首次试验的实际执行时长与录像一致，且录像末段非脚部接近球、没有射门飞行的过程与该终止结果吻合，录像对应首次提交；后续五次重置后的提交（含 log step 146）不在本录像内。结合这些证据及评分器 reward.success=0、live_success=0，踢球过门节点未达到。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 2.64–3.00 s，机器人右腿后摆再向前摆动，另一只脚接触草地承重，随后支撑失稳；未据此认定右脚成功踢到球。" + }, + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "推断：候选方式为非预期碰撞；视频 3.20–3.28 s，机器人倾倒时近侧手或前臂下降至球的位置，球随后被遮住，结合 log step 119 的非脚部触球判定，支持上肢意外碰球。具体接触链节无法辨清；没有合手夹持，不属于抓握，现有方式不能准确表示此碰撞。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plane_z_m", + "unit": "m", + "threshold": 3.0, + "direction": "higher_better", + "value": null + }, + { + "name": "plane_y_m", + "unit": "m", + "threshold": [ + -2.97, + 2.63 + ], + "direction": "target", + "value": null + }, + { + "name": "ball_max_z_m", + "unit": "m", + "threshold": null, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "conversion_scored", + "t": 3.04, + "log_step": 119, + "where": "操作中", + "evidence_zh": "观察：视频 2.64–3.04 s，机器人正在执行摆腿射门，球仍在球座上；视频 3.04–3.32 s，机器人持续向前倾倒，上身接近水平，手臂落向球座区域，没有恢复站姿或完成射门。log step 119 的首次现场结果记录非脚部触球、阶段 0、done=True、reason=failed（log step 120：episode=1、仿真时长 3.36 s，与录像时长一致），整次运行评分为失败。" + }, + "unmet": { + "conversion_scored": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 3.04, + "log_step": null, + "evidence_zh": "观察：视频 3.04–3.32 s，机器人摆腿过程中躯干迅速前俯至近水平、腿向后伸，近侧手臂下降到球座区域，末帧仍在倾倒，未恢复支撑；球未被送向球门。这是射门过程中的全身失衡。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 110 的提交脚本把本地仿真生成的整段关节指令一次性提交，执行期间没有根据现场观测修改动作；视频 2.64–3.32 s 的摆腿动作导致机体向前失衡且未纠正，支持实际动作控制未能维持射门所需的支撑。log step 119 读取的首次现场结果为非脚部触球、阶段 0，未建立合法踢球阶段。现有证据不能进一步区分接触几何、动力学偏差或跟踪控制问题。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有状态日志或逐帧接触对；远景中末段球被肢体遮挡，无法确认碰球的具体上肢链节、接触瞬间及精确地面力。录像对应首次提交（log step 118–120）：同次服务记录的 episode=1、实际执行 336 个控制步、仿真时长 3.36 s 与录像时长对应，且末段行为与 log step 119 的非脚部触球终止结果一致；后续五次重置试验不在本录像内。首次试验虽有 agent 脚本输出的关节/扭矩诊断，但不能仅凭这些诊断确定碰球链节或更细的控制根因。评分器未报告 plane_z_m、plane_y_m、ball_max_z_m，均保留 null；agent 关于脚尖卡地及本地模型偏差的解释未独立证实。" + }, + "summary_zh": "本次录像对应首次现场提交（log step 118–120，实际执行仿真 3.36 s，与录像时长一致）；机器人开始摆腿射门，但球未出现飞向门柱的过程，踢球过门节点未达到（0/1）。机器人约在视频 3.04 s 向前失衡，log step 119 的首次结果记录非脚部触球、阶段 0；证据支持控制失败，但不足以细分为某一接触或跟踪问题。没有状态日志，具体碰球链节仍不确定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "录像是第 1 次提交（log step 118，336 行、sim 3.36 s，与视频时长一致，step 119 读出 outcome=非脚部触球、done=True），不是 step 146 的第 6 次提交（500 行/5.00 s）。标签把录像绑到 step 146 并声称绑定未知，属证据错误；节点值（未达成）与断点本身不受影响。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "录像对应首次提交（336 行/3.36 s），球未被踢出、机器人前倾失衡，节点未达成、断点与平衡/控制标签与证据一致，上轮问题已修正。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:49:17Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-standard--k7tizbb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-standard--k7tizbb/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-standard--k7tizbb/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-standard--k7tizbb/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d838dd6900682e317df6ae957cc65bbee8fd6a1e0a416015d01c23769b700a05", + "video_sha256": "211ecdf54bc226d967972b95251d45551e6c187eb65f57e4229407f7f693b500", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-standard--nhqkguf.json b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-standard--nhqkguf.json new file mode 100644 index 0000000000000000000000000000000000000000..5872c78a28ea906b9adf2eb62b42bc7aaee2aa74 --- /dev/null +++ b/phase2/embodied-olympics-fun/rugby_conversion/trajectories/embodied-olympics-fun-rugby-conversion-i00-standard--nhqkguf.json @@ -0,0 +1,211 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-rugby-conversion-i00-standard--nhqkguf", + "taskKey": "embodied-olympics-fun/rugby_conversion", + "dag_sha256": "081cffc4f4d695f779d7796359dd6e3941fd545401eb6e3eecaa88fb6616cb9b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 140, + "sim_steps": 7362, + "calls": 103, + "rows": 7362, + "resets": 50, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 1548.0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.431, + "peak_processes": 15, + "peak_disk_gb": 1.164, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-rugby-conversion-i00-standard--nhqkguf/replay.mp4", + "duration_s": 1.44, + "fps": 25.0, + "frames": 36, + "sha256": "97c3cdbef12006df7dd99120d9e77d7bc981da2ca796e09984b2b566b080667e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "conversion_scored": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.96, + "log_step": 142, + "text_zh": "观察：视频 0.80–0.96 s 机器人摆腿，视频 0.96–1.04 s 脚踢中米白色球，球离开黄色球座；视频 1.08–1.40 s 球仅沿低弧线前飞并下降，仍在球门前，未出现越过横梁的射门。" + }, + { + "t": 1.4, + "log_step": 144, + "text_zh": "观察：视频 1.40 s 球已降至草地附近且未到门线；log step 144 的机器人服务状态为 episode=51、control_steps=140、done=true，服务裁判 outcome 为“the ball touched the ground before it scored”；log step 187 再次确认同一 episode 已失败。" + }, + { + "t": null, + "log_step": 142, + "text_zh": "推断：log step 142 的 U3 是最后一次执行的踢球，随后 U4 重置被拒；log step 144、187 均保持 episode=51，且 inputs/run.json 的 reward 记载 graded_by_live=1、resets=50，因此此前测试和之后仅写出的 gen.py 均不作为本次节点进展。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "其他", + "note_zh": "观察：视频 0.96–1.04 s 机器人抬起的脚直接踢击球座上的橄榄球，使球向前离座。候选方式：击打；现有方式词表无踢击，故用其他。推断：结合 log step 138、142 的右腿关节指令，此处为右脚踢球。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.80–1.04 s 机器人摆腿踢球时，另一只脚留在草地上承重。推断：结合 log step 138、142 的左右腿指令，该支撑脚为左脚。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plane_z_m", + "value": null, + "unit": "m", + "threshold": 3.0, + "direction": "higher_better" + }, + { + "name": "plane_y_m", + "value": null, + "unit": "m", + "threshold": [ + -2.97, + 2.63 + ], + "direction": "target" + }, + { + "name": "ball_max_z_m", + "value": null, + "unit": "m", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "conversion_scored", + "t": 1.0, + "log_step": 142, + "where": "操作中", + "evidence_zh": "观察：视频 0.96–1.04 s 机器人踢球后，球在视频 1.08–1.40 s 低飞并在门线前下降，未完成踢球过门；log step 144 的现场服务裁判明确报告球在得分前触地，episode=51 已结束。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 1.08, + "log_step": 144, + "evidence_zh": "观察：视频 1.08–1.40 s 米白色球的飞行轨迹始终很低，末尾落向球门前的草地，没有升到横梁上方；log step 144 的服务裁判确认“the ball touched the ground before it scored”。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 1.0, + "log_step": 142, + "source_zh": "日志", + "evidence_zh": "推断：log step 138 的 build/one 通过预设关节关键帧提交整段摆腿，log step 142 沿用该控制方式执行最终 U3（右髋目标 -2.0、右膝目标 0.4、摆腿时长参数 ta=0.22），并由服务返回得分前触地；结合视频 0.96–1.40 s 已触球但低飞、落地的结果，踢击控制未形成所需射门轨迹。证据仅支持控制层，不能进一步确定接触几何、摆腿速度或轨迹跟踪中的具体问题。" + } + ], + "gap_zh": "未提供状态日志，固定远景不能精确量出瞬时触球位置、球速与越线几何；评分器 reward 未报告 plane_z_m、plane_y_m、ball_max_z_m，故三项原生指标留 null。log step 142 的速度和角度为 agent 自写图像跟踪器估计，不作为裁判指标或精确根因依据。", + "unmet": { + "conversion_scored": false + } + }, + "summary_zh": "本次评分对应现场第 51 次尝试：机器人在视频约 1.00 s 踢出球，但球低飞后在门线前落地，“踢球过门”始终未达成，最终为 0/1。log step 144 的服务裁判确认得分前触地，断点为射门操作中，现象为位姿不准，根因仅支持到控制层。没有状态日志及原生球轨迹指标，无法进一步确定踢击控制的具体误差。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、断点 conversion_scored、位姿不准、根因停在“控制”均与视频及 log step 144/187 的服务裁判读数一致；时钟无转换，接触标注合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:40:13Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-standard--nhqkguf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-rugby-conversion-i00-standard--nhqkguf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": 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"text_zh": "观察：视频 0.00—0.60 s，机器人站在浅色弹性跳板端，双脚承重，屈腿并前倾、双臂上举；视频 0.64—0.84 s 双腿伸展、身体向池面前移，随后离开板端。" + }, + { + "t": 1.28, + "log_step": null, + "text_zh": "观察：逐帧检查视频 0.88—1.64 s，机器人持续腾空向前翻转，由近水平变为头朝下，双臂伸向头顶外侧、双腿趋于伸直并拢；视频 1.64—1.68 s 头手端首先穿过蓝色水面，视频 1.72—1.84 s 身体继续下沉，末帧仍有极小露出形状。" + }, + { + "t": 1.85, + "log_step": 255, + "text_zh": "观察：inputs/run.json 的 reward 记录 success=1、replay_success=1、deterministic=1、stages_reached=3/3、sim_steps=185；log step 255 对最终交付文件的独立重放返回 success=true、failed=null、stages=[take-off, entry, under water]、executed_rows=185、time_s=1.85，其各项姿态指标与 reward 一致。log step 275 最终重新生成并两次重放交付文件仍成功，最终状态哈希一致。" + }, + { + "t": 1.85, + "log_step": 255, + "text_zh": "推断：按 log step 14 所读工具说明，每个控制步为 0.01 s；最终交付重放的第 185 控制步对应视频约 1.85 s。该映射已与视频 1.64—1.68 s 的头手入水核对（log step 213 对同一最终参数的裁判事件记录为仿真 1.662 s 首次入水），且与视频 1.84 s 末帧只余极小露出相符；据成功裁判与三个阶段完成，将节点在视频约 1.85 s 记为达成。全身完全入水的瞬间未单独拍到，精细接触及姿态阈值由本次评分结果辅助确认。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00—0.60 s，机器人双脚在弹性跳板端承重并屈腿；视频 0.64—0.84 s 蹬板后进入腾空。作用端为双脚，对象为跳板；双臂上举调整姿态，未见手扶板或抓握器械。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "unit": "deg", + "threshold": 180, + "direction": "target", + "value": 167.3 + }, + { + "name": "entry_distance_m", + "unit": "m", + "threshold": null, + "direction": "target", + "value": 1.475 + }, + { + "name": "entry_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": 0.2 + }, + { + "name": "entry_hip", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": 173.9762 + }, + { + "name": "entry_knee", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": 169.2975 + }, + { + "name": "entry_feet", + "unit": "m", + "threshold": 0.12, + "direction": "lower_better", + "value": 0.0407 + }, + { + "name": "entry_toes", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": 0.4501 + }, + { + "name": "entry_beyond", + "unit": "m", + "threshold": 0.15, + "direction": "higher_better", + "value": 0.2518 + }, + { + "name": "entry_apart", + "unit": "m", + "threshold": 0.2, + "direction": "lower_better", + "value": 0.1149 + }, + { + "name": "entry_off", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": 0.0868 + }, + { + "name": "entry_twist", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": 1.7253 + } + ], + "failure": null, + "summary_zh": "机器人完成了双脚蹬板、腾空前翻及头手先行入水，唯一节点“前直体跳水”在视频约 1.85 s 达成，最终为 1/1；本次裁判与最终交付文件的独立重放均确认三个阶段通过且成功。裁判记录前翻 167.3 度、入水前向距离 1.475 米、入水倾角 0.2 度，其余入水姿态指标亦符合 DAG 阈值。证据缺口是没有状态日志、远景无法精确核实接触及细小姿态，且视频 1.84 s 末帧仍有极小露出；完成时刻由交付重放控制步及已核对的画面时序推定。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "标注与视频、裁判结果一致：成功、唯一节点约1.85 s达成，无失败；时钟映射已说明并核对。", + "n_issues": 0, + 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"run_json_sha256": "ed3b044d842e27dbe1e4ba6755a8be70ae0a442f336a45245585dc5304fdcc85", + "video_sha256": "7ebaa8104837ad2f365dcd1577f3b1037be14df98a751fa507020790d4c2428a", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-privileged--abgr5eb.json b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-privileged--abgr5eb.json new file mode 100644 index 0000000000000000000000000000000000000000..218c77340dc7d1002b9a02785515ddc909acfba5 --- /dev/null +++ b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-privileged--abgr5eb.json @@ -0,0 +1,261 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-springboard-3m-i00-privileged--abgr5eb", + "taskKey": "embodied-olympics-fun/springboard_3m", + "dag_sha256": "da2d305d2df479b38c8f6f8ea05ea8ab8944e53746c08b499d4a5b65dee06ba4", + "outcome": { + "success": 0, + "reward": 0.6667, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 244, + "sim_steps": 244, + "horizon": 2000, + "episode_over": 1, + "progress": 0.6667, + "stages_reached": 2, + "stages_total": 3, + "fell": 0, + "replay_s": 3.67, + "bad_trajectory": 0, + "metric_board_tip_lowest_m": 0.2468, + "metric_entry_distance_m": 1.302, + "metric_entry_tilt_deg": 14.7, + "metric_somersault_deg": 175.4, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 381, + "agent_resets": 2366, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.881, + "peak_processes": 10, + "peak_disk_gb": 0.841, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-springboard-3m-i00-privileged--abgr5eb/replay.mp4", + "duration_s": 2.48, + "fps": 25.0, + "frames": 62, + "sha256": "92194ba7bf13894a17f5d27d914f13535aefc640dc28b39f2af453b237e66fe0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "forward_straight_dive_completed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.2, + "log_step": null, + "text_zh": "观察：已逐帧检查视频 0.00—2.44 s；机器人先在板端站立、屈腿压低跳板，再于视频约 1.16—1.24 s 蹬离并向前腾空，随后前翻至头朝下。" + }, + { + "t": 2.44, + "log_step": 461, + "text_zh": "观察：视频 2.28—2.44 s 机器人头手朝下穿过蓝色水面，末帧仍有腿脚露出；log step 460—461 对最终交付的 244 行文件作独立重放，裁判仅记录 take-off、entry 两阶段，并返回 the entry is twisted (D 8.6.1)。该重放的动作数、175.4 度前翻角、1.302 米入水距离、14.7 度骨盆过水面倾角均与 inputs/run.json 的评分字段一致，评分 deterministic=1、success=0。" + }, + { + "t": 2.44, + "log_step": 461, + "text_zh": "推断：完整前直体跳水要求全身入水且全过程合规；画面中的部分入水与最终文件裁判的入水扭转判负共同确认该事件从未完成，不能将原生 stages_reached=2/3 当作单个语义节点已完成。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00—1.12 s 机器人双脚在浅色弹性跳板端承重，屈腿压板后伸腿蹬离；视频约 1.20 s 起离板飞行，双臂在空中调整姿态，未见手扶器械。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "unit": "deg", + "threshold": 180, + "direction": "target", + "value": 175.4 + }, + { + "name": "entry_distance_m", + "unit": "m", + "threshold": null, + "direction": "target", + "value": 1.302 + }, + { + "name": "entry_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": 14.7 + }, + { + "name": "entry_hip", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_knee", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_feet", + "unit": "m", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_toes", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_beyond", + "unit": "m", + "threshold": 0.15, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_apart", + "unit": "m", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_off", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_twist", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "forward_straight_dive_completed", + "t": 2.44, + "log_step": 461, + "where": "操作中", + "evidence_zh": "观察：视频 2.28—2.44 s 机器人正在头手先行入水，末帧尚未全身没入；log step 460—461 的最终交付文件重放在入水阶段返回 the entry is twisted (D 8.6.1)，裁判扭转角显示为四舍五入后的 20.0 度，未取得 complete 阶段。推断：失败发生在连续跳水动作的入水姿态控制过程中，视频 2.44 s 是末段入水的导航锚点。" + }, + "unmet": { + "forward_straight_dive_completed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 2.44, + "log_step": 461, + "evidence_zh": "观察：视频 2.28—2.44 s 机器人倒置入水，头及上身逐渐没入而腿脚仍露出；log step 461 的最终文件重放裁判明确以入水肩轴扭转超限判负，记录 twist_deg=20.0（舍入值）。推断：具体偏差是入水肩轴朝向未保持在规定容差内；远景侧视画面本身不能精确量出该扭转角。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 461, + "source_zh": "日志", + "evidence_zh": "观察：log step 451 记录 agent 仍在调整肩部和腰部关节控制来纠正入水扭转；log step 460—461 验证最终保存文件时，裁判仍因入水扭转超限终止，且其阶段、动作数和原生指标与本次评分一致。log step 469 的 agent 最终自述也明确承认该失败。推断：所生成的跳水控制轨迹未能在入水全程维持合规的肩轴朝向；证据不足以细分为目标轨迹不当、跟踪误差或某个参数的错误。" + } + ], + "gap_zh": "没有状态日志；已检查本次视频全部 62 帧及成功样例。固定侧视远景无法独立精确核验肩轴扭转和细小关节、接触阈值，扭转判负依据最终交付文件的裁判重放记录；该记录只给出舍入后的角度，无法从中恢复准确超限量，也无法进一步细分控制根因。" + }, + "summary_zh": "机器人从板端压板蹬离、前翻并头手先行入水，原生裁判通过起跳和首次入水两阶段，但唯一的完整跳水节点未达成（0/1）。最终交付文件的裁判重放在入水过程中因肩轴扭转超限终止，对应位姿不准，根因归为控制。没有状态日志，侧视远景无法独立量出微小扭转角或区分更细的控制原因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "节点未达成、断点（前直体跳水·操作中）、位姿不准与控制根因均有视频帧和 log step 460—461 的最终文件重放（与评分字段一致）支撑，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:42:22Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-privileged--abgr5eb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-privileged--abgr5eb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ee19bea20976090cbc78c57adaf268b2f5209603ae2cf649eeeb228cb2fd93b3", + "video_sha256": "92194ba7bf13894a17f5d27d914f13535aefc640dc28b39f2af453b237e66fe0", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-privileged--cyaw6x7.json b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-privileged--cyaw6x7.json new file mode 100644 index 0000000000000000000000000000000000000000..856cd56e40dc7d84cdef36c19cee803a4ba22744 --- /dev/null +++ b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-privileged--cyaw6x7.json @@ -0,0 +1,249 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-springboard-3m-i00-privileged--cyaw6x7", + "taskKey": "embodied-olympics-fun/springboard_3m", + "dag_sha256": "da2d305d2df479b38c8f6f8ea05ea8ab8944e53746c08b499d4a5b65dee06ba4", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 186, + "sim_steps": 186, + "horizon": 2000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 3, + "stages_total": 3, + "fell": 0, + "replay_s": 6.07, + "bad_trajectory": 0, + "metric_board_tip_lowest_m": 0.1781, + "metric_entry_apart": 0.1064, + "metric_entry_beyond": 0.3362, + "metric_entry_distance_m": 1.686, + "metric_entry_feet": 0.0956, + "metric_entry_hip": 171.6621, + "metric_entry_knee": 170.1259, + "metric_entry_off": 0.0911, + "metric_entry_tilt_deg": 1.0, + "metric_entry_toes": 0.4498, + "metric_entry_twist": 0.6933, + "metric_somersault_deg": 167.7, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 4, + "agent_resets": 1, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 3.106, + "peak_processes": 16, + "peak_disk_gb": 0.239, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-springboard-3m-i00-privileged--cyaw6x7/replay.mp4", + "duration_s": 1.88, + "fps": 25.0, + "frames": 47, + "sha256": "4ed61f4b8ffaf4dcec2ec6c5b10741878e0ac27e5cdf5a03db4f414e46ff322e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "forward_straight_dive_completed": { + "method": "visual", + "intervals": [ + [ + 1.86, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00—0.72 s，机器人从浅色跳板末端站立开始，双脚在板端承重，身体前倾压板后伸展；视频 0.84 s 已离板腾空，随后持续向前翻转，未见返回板面。" + }, + { + "t": 1.68, + "log_step": null, + "text_zh": "观察：视频 1.12—1.64 s，机器人由接近水平逐渐转为头下脚上，双臂伸向头顶外侧；视频 1.68—1.84 s 身体依次向蓝色水面下沉，最后仅剩很小的露出部分。已逐帧检查完整视频及末段放大图；成功参考视频只用于核对该视角下的入水外观。" + }, + { + "t": 1.86, + "log_step": 35, + "text_zh": "观察：log step 35 中，agent 生成并保存最终轨迹后，调用基准重放器读取同一交付文件；重放器返回 success=true、failed=null，三个阶段 take-off、entry、under water 全部通过，执行 186 个控制步、仿真 1.86 s，事件记录首次入水为左手、仿真 1.662 s，全身入水并成功为仿真 1.854 s。run.json 的评分器字段同时给出 replay_success=1、deterministic=1、stages_reached=3/3；log step 38 再次重放成功且最终状态哈希一致。" + }, + { + "t": 1.86, + "log_step": 35, + "text_zh": "推断：log step 35 的交付脚本每控制步为仿真 0.01 s，186 步对应仿真 1.86 s，与视频 1.88 s 的长度及 25 fps 采样吻合；裁判入水事件仿真 1.662 s 与视频 1.64—1.68 s 的头手触水过程相符，核对后以同一回合的控制时钟将完成标为约视频 1.86 s。视频末帧为 1.84 s，未独立拍到全身完全没入的瞬间，最终达成及细小姿态阈值依据本次交付的裁判结果，时间精度约一个视频帧。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00—0.72 s，机器人双脚在弹性跳板末端承重、压板并蹬板起跳；随后脱离跳板，双臂在空中调整入水姿态，未见手扶板或抓握物体。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "unit": "deg", + "threshold": 180, + "direction": "target", + "value": 167.7 + }, + { + "name": "entry_distance_m", + "unit": "m", + "threshold": null, + "direction": "target", + "value": 1.686 + }, + { + "name": "entry_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": 1.0 + }, + { + "name": "entry_hip", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": 171.6621 + }, + { + "name": "entry_knee", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": 170.1259 + }, + { + "name": "entry_feet", + "unit": "m", + "threshold": 0.12, + "direction": "lower_better", + "value": 0.0956 + }, + { + "name": "entry_toes", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": 0.4498 + }, + { + "name": "entry_beyond", + "unit": "m", + "threshold": 0.15, + "direction": "higher_better", + "value": 0.3362 + }, + { + "name": "entry_apart", + "unit": "m", + "threshold": 0.2, + "direction": "lower_better", + "value": 0.1064 + }, + { + "name": "entry_off", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": 0.0911 + }, + { + "name": "entry_twist", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": 0.6933 + } + ], + "failure": null, + "summary_zh": "机器人完成前直体跳水，唯一节点最终达成（1/1）：视频显示板端蹬离、前翻及头手先行入水，本次交付的评分器确认三个阶段全部通过、重放成功且确定性一致。完成锚点约为视频 1.86 s，由 log step 35 的同一交付重放事件和控制步长推断，并在视频 1.64—1.68 s 的入水过程核对时钟。没有状态日志，固定侧方远景及视频 1.84 s 末帧不能独立核实完全没入瞬间、细小接触和全部角度阈值，这些验收依赖本次裁判记录；成功参考视频只用于外观对照。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "成功运行，唯一节点 forward_straight_dive_completed 达成，时间约视频 1.86 s（控制步 186×0.01 s 与视频 1.88 s 长度吻合，已说明映射）；接触 腿/躯干·支撑 合理，无失败层，摘要与证据一致。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:39:25Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-privileged--cyaw6x7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-privileged--cyaw6x7/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1a12092e6c32fef447644e787825256b19e14a504435c1ca93bc6837fea06f99", + "video_sha256": "4ed61f4b8ffaf4dcec2ec6c5b10741878e0ac27e5cdf5a03db4f414e46ff322e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-privileged--khjluss.json b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-privileged--khjluss.json new file mode 100644 index 0000000000000000000000000000000000000000..2bdcb6b4be69bc4b9932c379e20ceb58e608c682 --- /dev/null +++ b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-privileged--khjluss.json @@ -0,0 +1,249 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-springboard-3m-i00-privileged--khjluss", + "taskKey": "embodied-olympics-fun/springboard_3m", + "dag_sha256": "da2d305d2df479b38c8f6f8ea05ea8ab8944e53746c08b499d4a5b65dee06ba4", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 320, + "sim_steps": 214, + "horizon": 2000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 3, + "stages_total": 3, + "fell": 0, + "replay_s": 4.71, + "bad_trajectory": 0, + "metric_board_tip_lowest_m": 0.2146, + "metric_entry_apart": 0.1041, + "metric_entry_beyond": 0.2042, + "metric_entry_distance_m": 1.595, + "metric_entry_feet": 0.0975, + "metric_entry_hip": 163.0832, + "metric_entry_knee": 169.7597, + "metric_entry_off": 0.1349, + "metric_entry_tilt_deg": 0.2, + "metric_entry_toes": 0.448, + "metric_entry_twist": 3.782, + "metric_somersault_deg": 168.7, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 1473, + "agent_resets": 2814, + "agent_replays": 12, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 3.244, + "peak_processes": 18, + "peak_disk_gb": 0.239, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-springboard-3m-i00-privileged--khjluss/replay.mp4", + "duration_s": 2.16, + "fps": 25.0, + "frames": 54, + "sha256": "e95753d43222b1ed3643f69885e62a4312dfb0f98d43a6a1de4d55aec6209436" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "forward_straight_dive_completed": { + "method": "visual", + "intervals": [ + [ + 2.14, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.6, + "log_step": null, + "text_zh": "观察：本次视频 0.00—0.84 s，机器人在跳板端以双脚承重，屈髋屈膝压板后伸腿蹬起；视频 0.96—1.40 s，机器人已离开板端向前腾空，身体由斜向上转至近水平。" + }, + { + "t": 2.04, + "log_step": null, + "text_zh": "观察：本次视频 1.44—1.96 s，机器人继续向前翻至头朝下，双臂伸向头前；视频 2.00—2.12 s，机器人近竖直下行，头、手和躯干依次被水面遮去，末帧仅余很小的脚端轮廓。已逐帧检查全片，尤其视频 1.16—2.12 s；参考视频 1.68—1.84 s 呈相同的倒置入水及末端小轮廓，仅作视觉对照。" + }, + { + "t": 2.14, + "log_step": 135, + "text_zh": "推断：log step 134 保存最终 320 行轨迹并由官方重放报告成功，log step 135 对该交付文件两次独立重放均报告 success=True、执行 214 个控制步且末态哈希一致；log step 122 的生成代码按每控制步 0.01 s 编排，log step 136 再次记载该控制周期。因此以交付文件的控制步计数推定完成约在视频 214×0.01=2.14 s，已用视频 2.00—2.12 s 的入水末段及 2.16 s 视频总长核对；时刻精度约一个视频帧，不使用 agent 工作时间换算。" + }, + { + "t": 2.14, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 记录 success=1、replay_success=1、deterministic=1、stages_reached=3/3、sim_steps=214；首次触水前翻角 168.7 度、入水前向距离 1.595 m、骨盆过水面时倾斜 0.2 度，所报入水姿态指标均符合 DAG 阈值。评分器确认完整跳水合规完成；远景末帧本身不足以独立核实全身碰撞包围盒已入水及全过程细小角度。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00—0.84 s，机器人双脚在弹性跳板端承重、压板并蹬伸；随后离板前翻及入水。双臂在空中调整并伸过头顶，画面未见手扶板或抓握物体。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "unit": "deg", + "threshold": 180, + "direction": "target", + "value": 168.7 + }, + { + "name": "entry_distance_m", + "unit": "m", + "threshold": null, + "direction": "target", + "value": 1.595 + }, + { + "name": "entry_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": 0.2 + }, + { + "name": "entry_hip", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": 163.0832 + }, + { + "name": "entry_knee", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": 169.7597 + }, + { + "name": "entry_feet", + "unit": "m", + "threshold": 0.12, + "direction": "lower_better", + "value": 0.0975 + }, + { + "name": "entry_toes", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": 0.448 + }, + { + "name": "entry_beyond", + "unit": "m", + "threshold": 0.15, + "direction": "higher_better", + "value": 0.2042 + }, + { + "name": "entry_apart", + "unit": "m", + "threshold": 0.2, + "direction": "lower_better", + "value": 0.1041 + }, + { + "name": "entry_off", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": 0.1349 + }, + { + "name": "entry_twist", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": 3.782 + } + ], + "failure": null, + "summary_zh": "机器人在本次视频中由板端双脚压板起跳，向前翻转后头手先行、近竖直入水；评分器确认三个阶段全部通过，唯一节点“前直体跳水”约在视频 2.14 s 达成，最终为 1/1。最终交付文件的两次独立重放成功且末态一致，首次触水前翻 168.7 度、骨盆过水面倾斜 0.2 度。无状态日志，固定远景无法独立核实全部接触及姿态阈值，视频 2.12 s 末帧仍有微小脚端轮廓，完整入水及合规性以本次评分器结果补证，完成时刻由已核对的交付控制步计数估计。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "单节点前直体跳水已达成、final=1，与视频（板端起跳、前翻、头朝下入水）及评分器 3/3 阶段、sim_steps=214（约 2.14 s，视频总长 2.16 s）一致；控制步换算有证据并已核对，接触标签正确，failure 为 null 合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:41:11Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-privileged--khjluss/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-privileged--khjluss/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a301784c1f9de3416fdcf1cef4867dc96f5b15f032a9e2f306c8507fd018e61d", + "video_sha256": "e95753d43222b1ed3643f69885e62a4312dfb0f98d43a6a1de4d55aec6209436", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-privileged--ucmsceu.json b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-privileged--ucmsceu.json new file mode 100644 index 0000000000000000000000000000000000000000..fae9b4509ce2652dba78f85443d89e66ee84d533 --- /dev/null +++ b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-privileged--ucmsceu.json @@ -0,0 +1,254 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-springboard-3m-i00-privileged--ucmsceu", + "taskKey": "embodied-olympics-fun/springboard_3m", + "dag_sha256": "da2d305d2df479b38c8f6f8ea05ea8ab8944e53746c08b499d4a5b65dee06ba4", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "replay_success": 1, + "deterministic": 1, + "n_actions": 188, + "sim_steps": 188, + "horizon": 2000, + "episode_over": 1, + "progress": 1.0, + "stages_reached": 3, + "stages_total": 3, + "fell": 0, + "replay_s": 3.28, + "bad_trajectory": 0, + "metric_board_tip_lowest_m": 0.1601, + "metric_entry_apart": 0.108, + "metric_entry_beyond": 0.2421, + "metric_entry_distance_m": 1.753, + "metric_entry_feet": 0.0954, + "metric_entry_hip": 171.6651, + "metric_entry_knee": 170.1308, + "metric_entry_off": 0.0541, + "metric_entry_tilt_deg": 9.8, + "metric_entry_toes": 0.45, + "metric_entry_twist": 17.8751, + "metric_somersault_deg": 159.6, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 448, + "agent_resets": 69, + "agent_replays": 5, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.88, + "peak_processes": 9, + "peak_disk_gb": 0.258, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-springboard-3m-i00-privileged--ucmsceu/replay.mp4", + "duration_s": 1.92, + "fps": 25.0, + "frames": 48, + "sha256": "e0432f8fa7fe1963abd55b7268e8c1330cc4059357a44e7b23bb25ee7e0c9538" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "forward_straight_dive_completed": { + "method": "visual", + "intervals": [ + [ + 1.88, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.48, + "log_step": null, + "text_zh": "观察：视频 0.00 s 机器人双脚位于浅色跳板端，视频 0.24—0.60 s 抬臂、屈髋屈膝压板，双脚继续承重；视频 0.64—0.88 s 伸腿并向前上方离板。" + }, + { + "t": 1.28, + "log_step": null, + "text_zh": "观察：视频 0.88—1.28 s 机器人离开板端向水池方向前翻，躯干由前倾转至接近水平；视频 1.60—1.72 s 头朝下、两臂伸过头顶，双腿基本伸直并拢，手头先行穿过水面。" + }, + { + "t": 1.88, + "log_step": null, + "text_zh": "观察：逐帧检查视频 1.60—1.88 s，机器人按手头、躯干、腿脚的顺序没入蓝色水面；视频 1.84 s 仍有腿脚小段露出，视频 1.88 s 原位置已无清晰身体轮廓。完成时刻取视频 1.88 s，精度约一帧。" + }, + { + "t": 1.88, + "log_step": 238, + "text_zh": "观察：inputs/run.json 的评分器字段 success=1、replay_success=1、deterministic=1、stages_reached=stages_total=3、bad_trajectory=0；log step 238 重新生成并保存最终交付轨迹后，独立重放执行 188 行，报告 take-off、entry、under water 三阶段与 success=true，指标与最终评分相同。log step 235 的两次独立重放末态哈希一致；这些记录用于确认交付结果，不将会话试验计作本次进度。" + }, + { + "t": 1.88, + "log_step": 230, + "text_zh": "观察：log step 230 的已保存轨迹重放报告首次入水部位为 right_hand、under water 与 success 均在仿真 1.873 s；最终评分给出前翻 159.6 度、入水前向距离 1.753 m、骨盆入水倾角 9.8 度，髋膝角分别为 171.6651 度和 170.1308 度，其余入水指标见 native_metrics。推断：结合视频 1.88 s 的消失与评分器三阶段成功，唯一事件节点已完成；细小接触、离板同步窗口及姿态阈值依裁判记录确认，未从远景直接量测。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00—0.60 s 机器人双脚在跳板端承重、屈腿压板，随后视频 0.64—0.88 s 伸腿蹬离跳板。实际支承作用端为双脚，对象为弹性跳板；后续空中前翻与入水依次发生，双臂伸展调整姿态，未见手扶板或抓物。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "unit": "deg", + "threshold": 180, + "direction": "target", + "value": 159.6 + }, + { + "name": "entry_distance_m", + "unit": "m", + "threshold": null, + "direction": "target", + "value": 1.753 + }, + { + "name": "entry_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": 9.8 + }, + { + "name": "entry_hip", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": 171.6651 + }, + { + "name": "entry_knee", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": 170.1308 + }, + { + "name": "entry_feet", + "unit": "m", + "threshold": 0.12, + "direction": "lower_better", + "value": 0.0954 + }, + { + "name": "entry_toes", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": 0.45 + }, + { + "name": "entry_beyond", + "unit": "m", + "threshold": 0.15, + "direction": "higher_better", + "value": 0.2421 + }, + { + "name": "entry_apart", + "unit": "m", + "threshold": 0.2, + "direction": "lower_better", + "value": 0.108 + }, + { + "name": "entry_off", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": 0.0541 + }, + { + "name": "entry_twist", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": 17.8751 + } + ], + "failure": null, + "summary_zh": "机器人从板端压板蹬离，完成前翻并以头手先行入水，视频 1.88 s 原位置已无清晰身体轮廓，唯一节点前直体跳水最终完成（1/1），无失败断点。最终评分与交付轨迹的独立重放均确认三个裁判阶段成功且确定性一致，前翻角 159.6 度、入水倾角 9.8 度均合格。无状态日志，固定侧方远景不能独立量测细小接触、离板同步及全部姿态阈值，这部分依据本次评分器与已保存轨迹的重放记录确认；成功参考视频仅用于辨认动作外观。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "成功样本，唯一节点完成、final=1、无断点均正确；视频 1.88 s（视频时钟）人体已入水，评分器字段与 log step 230/235/238 的重放结果（success、三阶段、188 步、sim 1.88 s、指标）与标签一致，未发现时钟转换或夸大的观察。contact_actual（腿/躯干·支撑）符合实际。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:39:54Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-privileged--ucmsceu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-privileged--ucmsceu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0c5ee4be09a177b0727d48ac37a5c0e1473fc7aa77003b66918ed7be3191474f", + "video_sha256": "e0432f8fa7fe1963abd55b7268e8c1330cc4059357a44e7b23bb25ee7e0c9538", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--6qfeogm.json b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--6qfeogm.json new file mode 100644 index 0000000000000000000000000000000000000000..29e448b7b781b6d51c57bcb9cb3f9a037a315ebc --- /dev/null +++ b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--6qfeogm.json @@ -0,0 +1,245 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-springboard-3m-i00-standard--6qfeogm", + "taskKey": "embodied-olympics-fun/springboard_3m", + "dag_sha256": "da2d305d2df479b38c8f6f8ea05ea8ab8944e53746c08b499d4a5b65dee06ba4", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 207, + "sim_steps": 207, + "calls": 4, + "rows": 207, + "resets": 0, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 3733.1, + "video_rendered": 1, + "first_success": 1, + "first_reason_code": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.843, + "peak_processes": 13, + "peak_disk_gb": 2.53, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-springboard-3m-i00-standard--6qfeogm/replay.mp4", + "duration_s": 2.08, + "fps": 25.0, + "frames": 52, + "sha256": "bad0c596e0c9d026a41ae37a26cd9bacce93e5f0e705f315b5f3b6d0ec2e76ae" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "forward_straight_dive_completed": { + "method": "visual", + "intervals": [ + [ + 2.07, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.64, + "log_step": null, + "text_zh": "观察：视频 0.00—0.80 s，机器人双脚在浅色跳板端承重，逐渐屈膝下蹲并使板端下挠，双手没有扶板。" + }, + { + "t": 0.92, + "log_step": null, + "text_zh": "观察：视频 0.84—1.04 s，机器人伸腿蹬板，双脚离开板端向前上方运动；视频 1.20—1.40 s 身体转过近水平姿态，随后头部朝下，双臂伸向头顶之外。" + }, + { + "t": 1.92, + "log_step": null, + "text_zh": "观察：视频 1.68—1.92 s，机器人保持大致伸直的躯干和双腿，头手在下、脚在上地趋近竖直并穿入蓝色水面；视频 1.96—2.04 s，露出水面的腿脚逐渐减少，视频 2.04 s 末帧仍可见一小段足部。" + }, + { + "t": 2.07, + "log_step": 92, + "text_zh": "观察：log step 92 的机器人服务返回同一现场回合 episode=1、control_steps=207、sim_time_s=2.07、outcome=success、stages_reached=3；inputs/run.json 的评分字段亦为 live_success=1、graded_by_live=1、resets=0。此处 outcome 和 stages_reached 是仿真服务裁判的结果，并非 agent 自述。" + }, + { + "t": 2.07, + "log_step": 92, + "text_zh": "推断：log step 4 返回 control_dt=0.01 s，log step 92 的现场控制步 207 对应视频约 207×0.01=2.07 s；已用控制步 85 处的前倾蹬板姿态与视频 0.84—0.88 s 核对，并与视频 2.04 s 尚余少量足部、总时长 2.08 s 相符。故全身入水且规则通过的事件记在视频约 2.07 s，完成时刻和细小姿态阈值由现场裁判补足，不能仅凭末帧独立确认。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00—0.84 s，机器人双脚在跳板端支承、屈膝压板并蹬伸；视频 0.88—1.04 s 双脚已离板。双臂随后调整空中及入水姿态，未见手扶板或抓握物体。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "unit": "deg", + "threshold": 180, + "direction": "target", + "value": null + }, + { + "name": "entry_distance_m", + "unit": "m", + "threshold": null, + "direction": "target", + "value": null + }, + { + "name": "entry_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_hip", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_knee", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_feet", + "unit": "m", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_toes", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_beyond", + "unit": "m", + "threshold": 0.15, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_apart", + "unit": "m", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_off", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_twist", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "机器人从板端压板蹬离，向前翻转并以头手朝下、双臂伸过头顶的姿态入水；现场裁判在控制步 207 确认三个阶段全部通过，唯一节点“前直体跳水”在视频约 2.07 s 达成，最终 1/1。已逐帧检查本次视频并对照参考成功视频；本次视频 2.04 s 末帧仍有少量足部露出，全身入水瞬间及细小角度、接触阈值依现场裁判确认。无状态日志，评分字段未报告各原生指标的数值，全部保留为 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "单节点“前直体跳水”在视频约 2.07 s 达成、final=1 与现场裁判（log step 92：control_steps=207、sim_time_s=2.07、outcome=success、stages_reached=3）及评分字段一致；成功回合无 failure 层合理；接触 腿/躯干·支撑 与帧所见一致；控制步→视频时间的换算已写明映射及核对，未见错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:47:36Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-standard--6qfeogm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-standard--6qfeogm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c4c0f691f7026848bbd0f85398218b5c33588731788efe7f20cdf45570fff4d4", + "video_sha256": "bad0c596e0c9d026a41ae37a26cd9bacce93e5f0e705f315b5f3b6d0ec2e76ae", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--apf3a33.json b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--apf3a33.json new file mode 100644 index 0000000000000000000000000000000000000000..aa5449f12973b6bad2eedb08b79bdaa32fb9d0b4 --- /dev/null +++ b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--apf3a33.json @@ -0,0 +1,240 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-springboard-3m-i00-standard--apf3a33", + "taskKey": "embodied-olympics-fun/springboard_3m", + "dag_sha256": "da2d305d2df479b38c8f6f8ea05ea8ab8944e53746c08b499d4a5b65dee06ba4", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 175, + "sim_steps": 450, + "calls": 459, + "rows": 450, + "resets": 2, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 2254.1, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-springboard-3m-i00-standard--apf3a33/replay.mp4", + "duration_s": 1.76, + "fps": 25.0, + "frames": 44, + "sha256": "c7715b981ad31036bae6131171ba614863c36f99e7024afc6e3273e49ca58aa9" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "forward_straight_dive_completed": { + "method": "visual", + "intervals": [ + [ + 1.75, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.4, + "log_step": null, + "text_zh": "观察：视频 0.00—0.52 s，机器人在浅色跳板末端屈膝压板后伸腿，双臂抬至头顶；视频 0.60—0.68 s 双脚已离开板端，身体向前上方腾起。实际支承为双脚与跳板接触，未见手扶板。" + }, + { + "t": 1.56, + "log_step": null, + "text_zh": "观察：视频 0.72—0.92 s 机器人在空中向前翻转并短暂屈体，视频 1.00—1.56 s 伸展为直体、双臂沿身体线伸过头顶，身体由水平转为头朝下接近竖直；视频 1.60—1.72 s 头手、躯干及腿依次穿入蓝色水面，视频 1.72 s 仅剩少量脚部形状露出。已逐帧检查整个录像；该入水外观与成功参考相符，参考不作为本次裁判结果的证据。" + }, + { + "t": 1.75, + "log_step": 84, + "text_zh": "观察：log step 84 执行第三回合 e3 reset 后，机器人服务返回 DONE 174、reason=success、stages_reached=3、stages_total=3，状态为 episode=3、control_steps=175、done=True；inputs/run.json 的 reward 同时记录 success=1、live_success=1、graded_by_live=1。此前两个失败回合不在本次评分录像内。" + }, + { + "t": 1.75, + "log_step": 84, + "text_zh": "推断：log step 7 的机器人规格给出 control_dt_s=0.01，log step 83 的第三回合脚本每次提交一个控制步；log step 84 的 175 个控制步对应视频约 1.75 s。已以脚本控制步 82 后展体、视频 0.84—1.04 s 可见的屈体转直体过程核对时间尺度，且视频 1.72 s 末帧仅余脚部，与其后约 0.03 s 全身入水相符。因此按本次现场裁判通过三个阶段的结果，将完整跳水事件记在视频约 1.75 s；该时刻位于最后采样帧之后，不能声称画面独立证明了全部微小角度与接触阈值。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00—0.52 s，机器人双脚在弹性跳板末端承重、屈膝压板后伸腿蹬离；视频 0.60 s 后可见双脚离板，双臂只用于空中姿态调整，未见抓握或扶板。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "value": null, + "unit": "deg", + "threshold": 180, + "direction": "target" + }, + { + "name": "entry_distance_m", + "value": null, + "unit": "m", + "threshold": null, + "direction": "target" + }, + { + "name": "entry_tilt_deg", + "value": null, + "unit": "deg", + "threshold": 15, + "direction": "lower_better" + }, + { + "name": "entry_hip", + "value": null, + "unit": "deg", + "threshold": 160, + "direction": "higher_better" + }, + { + "name": "entry_knee", + "value": null, + "unit": "deg", + "threshold": 160, + "direction": "higher_better" + }, + { + "name": "entry_feet", + "value": null, + "unit": "m", + "threshold": 0.12, + "direction": "lower_better" + }, + { + "name": "entry_toes", + "value": null, + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better" + }, + { + "name": "entry_beyond", + "value": null, + "unit": "m", + "threshold": 0.15, + "direction": "higher_better" + }, + { + "name": "entry_apart", + "value": null, + "unit": "m", + "threshold": 0.2, + "direction": "lower_better" + }, + { + "name": "entry_off", + "value": null, + "unit": "m", + "threshold": 0.15, + "direction": "lower_better" + }, + { + "name": "entry_twist", + "value": null, + "unit": "deg", + "threshold": 20, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "第三次回合完成前直体跳水，唯一节点最终达成（1/1）：机器人双脚蹬板、腾空前翻后直体头手先行入水，现场裁判在 log step 84 确认三个阶段全部通过。完成事件定位在视频约 1.75 s，依据该回合 175 个控制步及每步 0.01 s，并与可见展体、末段入水过程核对；前两个失败回合仅属会话试验。视频末帧为视频 1.72 s，尚有少量脚部露出，且无状态日志，无法独立逐项核实细小姿态和接触阈值；评分器未报告 DAG 所列各原生指标的数值，均保留 null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "唯一节点 forward_straight_dive_completed 在评分回合成功（服务 DONE 174、stages 3/3、success=1），视频可见起跳、腾空前翻、入水；约 1.75 s 由 175 控制步×0.01 s 换算并与可见事件核对，证据声明了映射与核对，未发现需改动的节点、时间、接触或失败层问题。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:38:36Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-standard--apf3a33/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-standard--apf3a33/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2460fe4c15a46c0f9f8b2bd3d5e955b18ee6581ad63582e8dda25bafb55443b5", + "video_sha256": "c7715b981ad31036bae6131171ba614863c36f99e7024afc6e3273e49ca58aa9", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--dam3ugh.json b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--dam3ugh.json new file mode 100644 index 0000000000000000000000000000000000000000..ce38f65257176d0c9a6ff27523e1ad1cd494486d --- /dev/null +++ b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--dam3ugh.json @@ -0,0 +1,237 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-springboard-3m-i00-standard--dam3ugh", + "taskKey": "embodied-olympics-fun/springboard_3m", + "dag_sha256": "da2d305d2df479b38c8f6f8ea05ea8ab8944e53746c08b499d4a5b65dee06ba4", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 30, + "sim_steps": 30, + "calls": 4, + "rows": 30, + "resets": 0, + "reset_budget": 50, + 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"text_zh": "观察：逐帧检查视频 0.00、0.04、0.08、0.12、0.16、0.20、0.24、0.28 s，机器人始终站在浅色跳板端，双臂在身侧，无蹬离跳板、空中前翻或入水。log step 20 中 agent 只提交初始 stand 指令的 30 行站立校准，服务返回 control_steps=30、sim_time_s=0.3、done=False、reason=None；此为同一现场回合，reward.resets=0。" + }, + { + "t": 0.28, + "log_step": null, + "text_zh": "观察：本次视频 0.28 s 末帧机器人仍在板上；另行检查成功参考视频全片，参考视频 0.72 s 可见离板前翻、1.56—1.72 s 可见头朝下进入水面。本次全片没有出现这些可见动作，故前直体跳水节点未达成；参考仅用于识别完成线索。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00—0.28 s，机器人以脚部在跳板端站立承重；log step 20 的现场动作仅为站立校准，未观察到蹬板起跳。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "value": null, + "unit": "deg", + "threshold": 180, + "direction": "target" + }, + { + "name": "entry_distance_m", + "value": null, + "unit": "m", + "threshold": null, + "direction": "target" + }, + { + "name": "entry_tilt_deg", + "value": null, + "unit": "deg", + "threshold": 15, + "direction": "lower_better" + }, + { + "name": "entry_hip", + "value": null, + "unit": "deg", + "threshold": 160, + "direction": "higher_better" + }, + { + "name": "entry_knee", + "value": null, + "unit": "deg", + "threshold": 160, + "direction": "higher_better" + }, + { + "name": "entry_feet", + "value": null, + "unit": "m", + "threshold": 0.12, + "direction": "lower_better" + }, + { + "name": "entry_toes", + "value": null, + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better" + }, + { + "name": "entry_beyond", + "value": null, + "unit": "m", + "threshold": 0.15, + "direction": "higher_better" + }, + { + "name": "entry_apart", + "value": null, + "unit": "m", + "threshold": 0.2, + "direction": "lower_better" + }, + { + "name": "entry_off", + "value": null, + "unit": "m", + "threshold": 0.15, + "direction": "lower_better" + }, + { + "name": "entry_twist", + "value": null, + "unit": "deg", + "threshold": 20, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 28, + "where": "首步前", + "evidence_zh": "观察：视频 0.00—0.28 s 仅显示机器人站立；log step 20 的现场服务明确返回 done=False、reason=None，随后 log step 21 只读关节状态，log step 22—27 为 agent 本地替代仿真建模与检查，没有再提交现场运动；log step 28 以“This request was blocked by Gemini's filters”结束会话。推断：中断发生在现场跳水动作开始及裁判结果确定之前，未见中断前不可逆的物理失败，按外部因素处理，无法指定失败动作时刻。" + }, + "unmet": { + "forward_straight_dive_completed": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：log step 28 记录模型提供方过滤中断，之前唯一运动提交（log step 20）只是站立校准且服务返回 done=False、reason=None；本次 inputs/ 有完整短视频和运行日志，没有状态日志，reward 未报告 DAG 所列入水指标。推断：这是结果确定前的外部中断，按 CASES.md FAIL-5 与 DECISIONS.md D37 应重测并排除出机器人失败分析；现象与根因均留空，不把被迫未启动跳水归为“没尝试”或控制失败。catalog 的 success=0 原样保留；无后续跳水证据可用于评价实际运动能力。" + }, + "summary_zh": "现场仅执行站立校准，视频 0.00—0.28 s 的全部 8 帧均未出现起跳、前翻或入水，前直体跳水最终为 0/1。log step 20 服务尚未结束回合，log step 28 随后记录 Gemini 过滤中断，按外部因素处理，断点为 unknown／首步前，现象和根因留空。保留 catalog 的 success=0；没有后续跳水或原生入水指标，无法据此评估机器人动作失败原因。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "标签与证据一致：视频仅 0.00—0.28 s（视频时钟）站立校准，log step 20 后只有本地建模，step 28 为提供方过滤中断，未交付任何跳水动作，按外部因素留空现象/根因合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:38:59Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-standard--dam3ugh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-standard--dam3ugh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5dda455f861db9c7b09fe9e2969bba4df5fb5bde0f662d948fffd1905afabbde", + "video_sha256": "2fa6b38165b4afbaaa880bdeccb95c99e83155f779a1fd62f0a3758be21b97ad", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--f9otypj.json b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--f9otypj.json new file mode 100644 index 0000000000000000000000000000000000000000..46e3741a4c2f79a536336db5c2be6212d6767964 --- /dev/null +++ b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--f9otypj.json @@ -0,0 +1,284 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-springboard-3m-i00-standard--f9otypj", + "taskKey": "embodied-olympics-fun/springboard_3m", + "dag_sha256": "da2d305d2df479b38c8f6f8ea05ea8ab8944e53746c08b499d4a5b65dee06ba4", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 87, + "sim_steps": 5945, + "calls": 107, + "rows": 5868, + "resets": 50, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 3019.7, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.826, + "peak_processes": 10, + "peak_disk_gb": 0.372, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-springboard-3m-i00-standard--f9otypj/replay.mp4", + "duration_s": 0.88, + "fps": 25.0, + "frames": 22, + "sha256": "61c8d0bbc538f7e44ab0bfe476e46bda8b126b7e2b66ab2af056577816e7a3b7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "forward_straight_dive_completed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：逐帧查看视频 0.00—0.84 s 的全部 22 帧，机器人在视频 0.00—0.40 s 双脚站在浅色跳板端屈伸蹬板，随后双臂抬过头顶；约视频 0.56 s 起可见腾空，视频 0.72—0.84 s 身体前倾、双臂在上，仍在板尖外侧空中、水面上方，没有完成前翻半周、头手入水或全身入水。" + }, + { + "t": 0.84, + "log_step": 435, + "text_zh": "观察：log step 435 的最后现场回合 exp46 执行 87 个控制步，服务返回 done=True、reason=failed、stages_reached=1/3，裁判 outcome 为跳水中触碰跳板、支架或栏杆（D 8.5.3）；log step 436 确认 episode=51、control_steps=87、resets_left=0，与 reward.n_actions=87 及视频末段一致。完整跳水节点未达到，裁判的起跳阶段通过不等于此节点完成。" + }, + { + "t": null, + "log_step": 438, + "text_zh": "观察：log step 10 的服务说明明确仅最后回合计分；log step 437—438 在最后回合结束后只生成并保存新的 257 行动作文件，没有再次提交机器人执行。log step 442 所述 exp22、exp41 是先前测试，不能用于本回合的节点进度。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00—0.40 s 可见机器人双脚在浅色板端承重并屈伸蹬板。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 435 的本回合服务裁判确认起跳后的器械接触；视频 0.56—0.84 s 显示机器人腾空、身体前倾及双臂过头，远景无法辨认裁判所报接触发生的身体部位、具体器械及接触方式。这是蹬板后的另一接触事件，不能由脚部支撑推定其接触部位。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "unit": "deg", + "threshold": 180, + "direction": "target", + "value": null + }, + { + "name": "entry_distance_m", + "unit": "m", + "threshold": null, + "direction": "target", + "value": null + }, + { + "name": "entry_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_hip", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_knee", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_feet", + "unit": "m", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_toes", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_beyond", + "unit": "m", + "threshold": 0.15, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_apart", + "unit": "m", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_off", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_twist", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "forward_straight_dive_completed", + "t": 0.84, + "log_step": 435, + "where": "操作中", + "evidence_zh": "观察：视频 0.72—0.84 s 的连续帧中，机器人双臂伸过头顶、身体前倾，仍在板尖外侧空中，未完成半周前翻或入水；log step 435 的本回合裁判返回“touched the springboard, its stand or the railings during the dive (D 8.5.3)”，只通过 1/3 阶段。推断：这是前直体跳水执行中的不可修复器械接触，取已查看的末帧视频 0.84 s 为近似导航锚点；视频不能确定接触发生的位置或身体部位，没有把会话中的较早测试作为本回合断点。" + }, + "unmet": { + "forward_straight_dive_completed": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 0.84, + "log_step": 435, + "evidence_zh": "观察：视频 0.72—0.84 s 显示机器人身体前倾、双臂过头，仍在板尖外侧空中，未完成半周前翻或入水；log step 435 的服务裁判确认跳水中触及跳板、支架或栏杆并终止回合。接触事实来自本回合裁判，远景不能分辨精确碰撞配对，不能据此认定是下肢回落碰板。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "观察：log step 434 的 agent 脚本以固定关节插值序列执行下蹲、伸展、转入直体及保持，并一次性提交 joints 动作，dt=0.01 s；log step 435 执行该序列后，裁判确认起跳阶段通过，却在 87 个控制步时因器械接触判负，视频 0.56—0.84 s 中机器人已腾空、身体前倾、双臂过头，尚未完成半周前翻或入水。推断：所执行的起跳及直体过渡控制没有形成能避开器械的飞行轨迹，归入控制；证据不足以进一步区分接触设计、轨迹跟踪或某个具体参数。" + } + ], + "gap_zh": "没有状态日志或逐物理步接触配对；本回合裁判只报告器械接触类别，无法确定是哪一身体部位碰到哪件器械。已检查全部视频帧及末段放大图，最后可见帧为视频 0.84 s，而 log step 435 报告执行至仿真 0.87 s（87 个控制步、每步 0.01 s），故断点时间只是视频末段锚点；无法逐帧看见终止物理步的接触。reward 未报告 DAG 的入水角度、距离或姿态原生指标，均留 null；控制根因仅作粗粒度推断。" + }, + "summary_zh": "本次计分的是最后现场回合 exp46：机器人压板、抬臂并通过裁判起跳阶段，视频末段身体前倾、双臂过头，仍在板尖外侧空中，未完成前翻入水，完整跳水节点为 0/1。log step 435 的服务裁判因跳水中器械接触判负，失败归于控制，先前测试及最后另存的动作文件不计入进度。视频未显示接触细节，且无状态日志和精确接触配对，无法细分碰撞部位、致错控制参数或核实未报告的入水指标。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点未达成、断点(前直体跳水,裁判器械接触)、被挡/碰撞与控制根因均有 log step 435 的服务裁判支撑,同意。但视频描述有误:末段并非“前倾下落、下肢落回板尖”,机器人仍在空中上升前移,身体倾斜、手臂在上;该观察需改写,并把接触部位标为未知。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、断点、被挡/碰撞现象与控制根因均有 log step 435 的服务裁判读数支持；第一轮指出的错误视频描述已改正，现版本与帧一致，验证器通过。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:48:58Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-standard--f9otypj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-standard--f9otypj/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-standard--f9otypj/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-standard--f9otypj/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8dfd7fee77da88e364babc2f305d9da46620007658785d2592042ffff7d75cef", + "video_sha256": "61c8d0bbc538f7e44ab0bfe476e46bda8b126b7e2b66ab2af056577816e7a3b7", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--fxmlviq.json b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--fxmlviq.json new file mode 100644 index 0000000000000000000000000000000000000000..f95d14972ca1ab1abbc0a64606e39bb41c222d3d --- /dev/null +++ b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--fxmlviq.json @@ -0,0 +1,259 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-springboard-3m-i00-standard--fxmlviq", + "taskKey": "embodied-olympics-fun/springboard_3m", + "dag_sha256": "da2d305d2df479b38c8f6f8ea05ea8ab8944e53746c08b499d4a5b65dee06ba4", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 149, + "sim_steps": 855, + "calls": 85, + "rows": 755, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 2726.9, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.269, + "peak_processes": 11, + "peak_disk_gb": 1.32, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-springboard-3m-i00-standard--fxmlviq/replay.mp4", + "duration_s": 1.52, + "fps": 25.0, + "frames": 38, + "sha256": "496b95440b8d9b83dfadf6d1449d5a5ac868fba8a5f72124c1a49e3de61a9342" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "forward_straight_dive_completed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.72, + "log_step": null, + "text_zh": "观察：视频 0.00—0.60 s，G1 机器人双脚站在浅色跳板端；视频 0.64—0.96 s 机器人摆臂、屈髋屈膝压板并开始伸腿，确实启动了跳水尝试。" + }, + { + "t": 1.48, + "log_step": 260, + "text_zh": "观察：视频 1.12—1.48 s，机器人伸直双腿、短暂腾空，始终位于板端附近且头在脚上方，未向前翻至头朝下，也未到达水面。log step 260 的现场服务返回第 6 回合 control_steps=149、阶段 1/3、done=true、reason=failed，裁判原文为“a double bounce: landed on the springboard again before the dive (D 6.5.4)”；这里只通过起跳阶段，未通过入水和完成阶段。" + }, + { + "t": 1.48, + "log_step": 282, + "text_zh": "推断：受评视频对应最后第 6 回合，而非先前调试或重置前的回合：log step 260 的 149 个控制步按 log step 6 的 control_dt=0.01 s 为回合仿真 1.49 s，与视频末帧 1.48 s 的板端腾空后回落相符；log step 282 的 agent 最终报告也明确最后一次为受评回合。逐帧看完整视频未见头手入水或全身入水，因此完整前直体跳水事件从未达成。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00—0.96 s，机器人双脚在弹性跳板端承重、屈膝压板和蹬伸；视频 1.12—1.48 s 随后短暂离板且仍在板端附近。log step 260 的现场裁判记录脚重新落回跳板。双臂摆动调整姿态，未见手接触器械。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "unit": "deg", + "threshold": 180, + "direction": "target", + "value": null + }, + { + "name": "entry_distance_m", + "unit": "m", + "threshold": null, + "direction": "target", + "value": null + }, + { + "name": "entry_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_hip", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_knee", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_feet", + "unit": "m", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_toes", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_beyond", + "unit": "m", + "threshold": 0.15, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_apart", + "unit": "m", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_off", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_twist", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "forward_straight_dive_completed", + "t": 1.48, + "log_step": 260, + "where": "操作中", + "evidence_zh": "观察：视频 1.20—1.48 s，机器人起跳后仍近乎直立地停留在板尖上方，向前位移很小，随后回落；log step 260 的现场裁判以落回跳板造成二次弹跳判负，阶段仅 1/3。受评尝试在前直体跳水过程中终止，未进入水面。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 1.48, + "log_step": 260, + "evidence_zh": "观察：视频 0.64—0.96 s 机器人屈膝后伸腿，视频 1.20—1.48 s 只在板端附近短暂腾空，未形成向前离板的跳水轨迹，身体始终未前翻至倒立，画面未见摔倒。log step 260 的现场裁判确认腾空后又落回跳板并判负。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：agent 的起跳控制未产生足以向前越过板端并开始跳水的全身运动。log step 238 的 run2.py 在回合仿真约 0.70 s 后一次提交预先生成的 lowcmd 序列，不再依据过程中更新的本体反馈调整起跳；log step 259 修改屈膝和伸腿目标，log step 260 用该脚本执行最后回合。视频 1.20—1.48 s 显示机器人仍近乎直立、位移很小；log step 264 读取该最后回合的服务本体数据，回合仿真 1.24—1.48 s 骨盆四元数仅缓慢变化，未形成所需前翻。由已执行的控制程序与实际运动归为控制不足，但不能据此细分为某个增益或接触设计错误。", + "source_zh": "日志" + } + ], + "gap_zh": "观察：inputs/ 没有状态日志；固定侧视远景虽能确认短跳未越过板端和未入水，却不能独立分辨判负物理步的精细足板接触。返板判负依据 log step 260 的最后回合现场裁判；视频末帧为 1.48 s，而 149 个控制步对应回合仿真 1.49 s。评分 reward 未报告 DAG 所列入水原生指标，均填 null。agent 在 log step 282 自述本地模型与服务的板面回弹、水平冲量不同，但现有数据不足以核实具体板刚度、支点或控制参数误差，因此根因不细分。", + "unmet": { + "forward_straight_dive_completed": false + } + }, + "summary_zh": "受评的最后回合中，机器人在板端屈膝蹬伸并短暂腾空，现场裁判通过起跳阶段（1/3），但完整前直体跳水节点始终未达成，最终为 0/1。视频 1.20—1.48 s 显示机器人仍在板端附近，未前翻入水，log step 260 确认随后返板而判负；现象为全身步态不足，结合执行脚本推断为控制不足。无状态日志及原生入水指标，无法进一步确认具体动力学误差。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达、断点、现象（步态：跳没有达到前翻离板的要求）和根因（控制，不细分）均与视频及 log 一致；log step 编号按 id 一致（260 为最后回合 OUTCOME 与 control_steps=149），时间均标明时钟。未发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:37:22Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-standard--fxmlviq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-standard--fxmlviq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fccb7e356dac7f69d586de5ddc99690c2eedc41633ebf5822968587db4e1bc1b", + "video_sha256": "496b95440b8d9b83dfadf6d1449d5a5ac868fba8a5f72124c1a49e3de61a9342", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--vj28yab.json b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--vj28yab.json new file mode 100644 index 0000000000000000000000000000000000000000..c0b56e755116baf05a8fab1a6394512737863b5b --- /dev/null +++ b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--vj28yab.json @@ -0,0 +1,240 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-springboard-3m-i00-standard--vj28yab", + "taskKey": "embodied-olympics-fun/springboard_3m", + "dag_sha256": "da2d305d2df479b38c8f6f8ea05ea8ab8944e53746c08b499d4a5b65dee06ba4", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 249, + "sim_steps": 785, + "calls": 33, + "rows": 204, + "resets": 3, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 1606.5, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.328, + "peak_processes": 19, + "peak_disk_gb": 0.86, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-springboard-3m-i00-standard--vj28yab/replay.mp4", + "duration_s": 2.52, + "fps": 25.0, + "frames": 63, + "sha256": "6c231a4582b4950187d2e16a4588fc1d562d1a17af37aa8ef4e40d04c80b944c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "forward_straight_dive_completed": { + "method": "visual", + "intervals": [ + [ + 2.49, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.28, + "log_step": null, + "text_zh": "观察：已逐帧查看视频 0.00—2.48 s；机器人起初双脚支承在浅色板端，视频 0.28—1.16 s 屈膝并抬臂，视频 1.20—1.32 s 伸腿蹬板后双脚离板，随后向水面前方腾空、前翻。" + }, + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：视频 1.44—2.12 s 机器人持续向前翻转，双腿伸直；视频 1.72—1.84 s 可见短暂屈肘，随后重新伸臂。视频 2.28—2.44 s 身体逐渐接近头朝下竖直，双臂伸过头顶、头手先行穿过水面；视频 2.48 s 仅剩极小露出轮廓，未单独拍到全身完全没入的瞬间。" + }, + { + "t": 2.48, + "log_step": 111, + "text_zh": "观察：log step 89—90 显示 agent 重置到 episode 4，log step 111 的机器人服务裁判返回 episode=4、control_steps=249、sim_time_s=2.49、done=true、reason=success、outcome=success、stages_reached=3/3；run.json 的 reward 同时记录 live_success=1、graded_by_live=1。此处是服务裁判结果，不是 agent 的完成自述。" + }, + { + "t": 2.49, + "log_step": 111, + "text_zh": "推断：本视频对应最后的 episode 4；log step 7 的服务规格给出 control_dt=0.01 s，log step 104 在 control step 185（仿真 1.85 s）记录屈肘姿态，与视频 1.84 s 的屈肘画面相符；log step 110 在 control step 238（仿真 2.38 s）记录继续入水，也与视频 2.36—2.40 s 相符。采用本回合控制步映射，log step 111 的 control step 249 → 视频约 2.49 s，故在此将完整跳水事件锁存为真；全身入水及细小合规阈值由成功裁判结果补足，非仅由远景消失判定。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00—1.24 s 机器人双脚在弹性跳板端承重，屈膝后伸腿蹬板；视频 1.28—1.32 s 双脚离板并进入前翻。双臂调整空中及入水姿态，未见手扶板或抓握物体。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "unit": "deg", + "threshold": 180, + "direction": "target", + "value": null + }, + { + "name": "entry_distance_m", + "unit": "m", + "threshold": null, + "direction": "target", + "value": null + }, + { + "name": "entry_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_hip", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_knee", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_feet", + "unit": "m", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_toes", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_beyond", + "unit": "m", + "threshold": 0.15, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_apart", + "unit": "m", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_off", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_twist", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": null, + "summary_zh": "本次评分对应重置后的第 4 次跳水：机器人双脚蹬板、腾空前翻并头手先行入水，服务裁判在控制步 249（映射为视频约 2.49 s）确认三个阶段全部通过，前直体跳水节点最终为真（1/1），无失败断点。视频已逐帧核对并与成功参考比较；末帧视频 2.48 s 仍有极小露出轮廓，全身完全入水及细小姿态阈值依赖本回合裁判成功结果确认，无状态日志，评分器也未报告各项原生指标数值。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "单节点成功标注与视频、服务裁判结果（log step 111：success，3/3 阶段）和控制步映射一致，无失败断点，接触标注合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:42:58Z", + "review_prompt": 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a/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--wppe3s3.json b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--wppe3s3.json new file mode 100644 index 0000000000000000000000000000000000000000..6a1b1a6c7f2aa1c270a7d3df961285d9876609f6 --- /dev/null +++ b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--wppe3s3.json @@ -0,0 +1,261 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-springboard-3m-i00-standard--wppe3s3", + "taskKey": "embodied-olympics-fun/springboard_3m", + "dag_sha256": "da2d305d2df479b38c8f6f8ea05ea8ab8944e53746c08b499d4a5b65dee06ba4", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 77, + "sim_steps": 605, + "calls": 52, + "rows": 605, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 607.1, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.307, + "peak_processes": 12, + "peak_disk_gb": 0.833, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-springboard-3m-i00-standard--wppe3s3/replay.mp4", + "duration_s": 0.8, + "fps": 25.0, + "frames": 20, + "sha256": "3011cfed12500a0271ba3cbf0d1e47384e95aa130b56f00f43994d58aa8889bf" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "forward_straight_dive_completed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.16, + "log_step": null, + "text_zh": "观察：视频 0.00—0.32 s，机器人在浅色板端站立后屈膝下蹲并摆臂，双脚在板端承重；视频 0.36—0.76 s 伸腿前倾，但未出现头朝下穿过水面或全身入水。已检查全部 20 帧及机器人区域放大图。" + }, + { + "t": 0.76, + "log_step": 51, + "text_zh": "观察：视频 0.76 s 末帧，机器人身体仍在跳板高度附近，双脚仍靠近板端，身体斜向前而非倒置入水。log step 51 的服务输出为 episode=6、control_steps=77、done=true、reason=failed、resets_left=0；run.json 的 reward 记录 n_actions=77、resets=5、graded_by_live=1、success=0，与最后一次尝试一致，不能把此前五次尝试的进展计入本片。" + }, + { + "t": null, + "log_step": 55, + "text_zh": "观察：agent 在 log step 55 自述最终尝试为“stage 0/3”及“double bounce”，这是 agent 的总结，现存服务输出没有保留该条详细裁判原因；节点未完成同时有本次视频未入水的直接依据。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00—0.32 s，机器人双脚在弹性跳板端承重，下蹲压板后伸腿；视频 0.64—0.76 s 双脚又接近板端。未见双手扶板或抓物；末段是否重新触板及精确接触时刻无法由远景独立核实。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "unit": "deg", + "threshold": 180, + "direction": "target", + "value": null + }, + { + "name": "entry_distance_m", + "unit": "m", + "threshold": null, + "direction": "target", + "value": null + }, + { + "name": "entry_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_hip", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_knee", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_feet", + "unit": "m", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_toes", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_beyond", + "unit": "m", + "threshold": 0.15, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_apart", + "unit": "m", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_off", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_twist", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "forward_straight_dive_completed", + "t": 0.72, + "log_step": 51, + "where": "操作中", + "evidence_zh": "观察：视频 0.40—0.76 s，机器人伸腿并向前俯身，双脚未明显远离跳板端，末段身体下降，未转入向前飞离并倒置入水的动作；视频约 0.72 s 为末段回落的导航锚点。log step 51 显示末次 episode=6 在 control_steps=77 时以 failed 结束，之后未再重置或执行新的跳水。" + }, + "unmet": { + "forward_straight_dive_completed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 0.72, + "log_step": 51, + "evidence_zh": "观察：视频 0.00—0.76 s，机器人下蹲、伸腿、前倾后仍留在板端附近，末段双脚回落至板端高度，未形成离板后向水面前翻的飞行。推断：本次蹬板动作未获得足以离开板端并继续跳水的运动，属于跳跃未达所需位移的步态问题；前倾本身是跳水动作的一部分，不据此另判摔倒。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 0.72, + "log_step": 51, + "source_zh": "视频 / 日志", + "evidence_zh": "推断：视频 0.00—0.76 s 的下蹲、伸腿、摆臂确实在执行跳水起跳，但产生的身体运动仍滞留于板端，未建立离板前翻所需的整体运动，支持起跳控制未奏效。log step 50 记录 agent 为最后一次尝试增加前倾以改善前向运动，log step 51 的最后一次执行仍失败；目标方向正确，现有证据只能归到控制，不能确定是蹬伸时序、输出幅度还是姿态反馈的具体问题。" + } + ], + "gap_zh": "无状态日志。视频为固定侧方远景，虽已检查全部帧及末段放大图，仍不能精确判定双脚离板及再次触板的物理时刻，也不能核实 0.1 秒接触窗口。log step 51 的输出中部在输入文件中已被截断，服务仅留 reason=failed；“二次弹跳”和“stage 0/3”来自 agent 在 log step 52、55 的自述，未作为独立裁判事实。所有 DAG 原生入水指标均未在 reward 中报告，值留 null；控制根因无法进一步细分。" + }, + "summary_zh": "评分对应 log step 51 的第六次、最后一次尝试；视频 0.00—0.76 s 可见机器人在板端下蹲、伸腿和前倾，未完成前翻入水，节点最终 0/1。断点在前直体跳水的起跳操作中，表现为未能有效飞离板端，保守归因于起跳控制；此前尝试的进展不计入本次。无状态日志且服务输出被截断，agent 所称二次弹跳缺少原生裁判细项，精确接触时刻及具体控制缺陷不能确定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点未完成、断点（末次尝试起跳阶段）与保守的控制根因与视频、log step 51（episode=6、control_steps=77、failed）及 reward 字段一致；agent 的“二次弹跳”仅作自述，标注中已按此处理。远景下机器人很小，细节无法独立核实。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:40:58Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-standard--wppe3s3/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-standard--wppe3s3/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3ccc57f616ca7a89417c280b2e81307bc9f6e1fdfb275635b73b701874c32c45", + "video_sha256": "3011cfed12500a0271ba3cbf0d1e47384e95aa130b56f00f43994d58aa8889bf", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--xdspdkn.json b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--xdspdkn.json new file mode 100644 index 0000000000000000000000000000000000000000..fc9b4e092440905e3683a20d11d0c26f0787effe --- /dev/null +++ b/phase2/embodied-olympics-fun/springboard_3m/trajectories/embodied-olympics-fun-springboard-3m-i00-standard--xdspdkn.json @@ -0,0 +1,254 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-springboard-3m-i00-standard--xdspdkn", + "taskKey": "embodied-olympics-fun/springboard_3m", + "dag_sha256": "da2d305d2df479b38c8f6f8ea05ea8ab8944e53746c08b499d4a5b65dee06ba4", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 189, + "sim_steps": 1401, + "calls": 92, + "rows": 1401, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 2703.3, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-springboard-3m-i00-standard--xdspdkn/replay.mp4", + "duration_s": 1.92, + "fps": 25.0, + "frames": 48, + "sha256": "a86d2c7ab9205a9b5982174470e8a450164aa4db4e9483ecf11b8cd50ce10ebe" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "forward_straight_dive_completed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.00—1.88 s 全部帧显示机器人在浅色跳板端站立、屈伸腿并摆臂；视频 1.68—1.80 s 脚底与板面短暂分离，视频 1.84—1.88 s 间隙缩小并回到板端。机器人始终近乎直立，未向水面完成前翻，也未入水，完整跳水节点从未达成。" + }, + { + "t": 1.88, + "log_step": 191, + "text_zh": "观察：log step 191 是最后一次成功 reset 后执行的现场控制，机器人服务在 control_steps=189 返回 failed，outcome 明确为“a double bounce: landed on the springboard again before the dive (D 6.5.4)”，与视频末段回板相符。log step 203 服务说明只评分最后一局，并拒绝再提交（episode finished、resets_left=0）；后续脚本修改未形成新现场尝试。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.00—1.60 s 机器人双脚在跳板端承重并屈伸压板；视频 1.68—1.88 s 短暂离板后脚部回落到跳板，log step 191 的现场裁判确认再次落板。双臂在空中摆动，未见手扶板或抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "somersault_deg", + "unit": "deg", + "threshold": 180, + "direction": "target", + "value": null + }, + { + "name": "entry_distance_m", + "unit": "m", + "threshold": null, + "direction": "target", + "value": null + }, + { + "name": "entry_tilt_deg", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_hip", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_knee", + "unit": "deg", + "threshold": 160, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_feet", + "unit": "m", + "threshold": 0.12, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_toes", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_beyond", + "unit": "m", + "threshold": 0.15, + "direction": "higher_better", + "value": null + }, + { + "name": "entry_apart", + "unit": "m", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_off", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "entry_twist", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "forward_straight_dive_completed", + "t": 1.88, + "log_step": 191, + "where": "操作中", + "evidence_zh": "观察：视频 1.68—1.88 s 机器人在板端短暂腾起后回落，身体仍近乎直立，未进入向前翻转和入水。log step 191 的机器人服务以二次弹跳终止这次现场尝试；log step 203 确认回合已结束且无法再 reset，此后未修复。" + }, + "unmet": { + "forward_straight_dive_completed": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 1.88, + "log_step": 191, + "evidence_zh": "观察：视频 1.44—1.88 s 机器人伸腿、摆臂并短暂离板，但没有跃出板端进入跳水航迹，而是再次落回跳板，未见翻倒。log step 191 的现场裁判明确报告二次弹跳；这是起跳未达到所需位移和后续腾空动作的失败。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 186 的控制脚本用骨盆竖直加速度 az≥11 触发持续 20 个控制步的伸腿动作，再根据加速度和踝力矩判断离板。log step 191 的现场执行记录 az=14.31 时触发 SLAM，随后 az=0.20、双踝力矩合计约 0.2，而最终裁判仍报告回板二次弹跳；结合视频 1.44—1.88 s 的短暂腾起及回落，说明该起跳控制未协调好机器人与弹性板的运动，未形成可继续前翻的离板轨迹。现有证据不足以细分具体控制机制。", + "source_zh": "日志" + } + ], + "gap_zh": "没有状态日志，固定侧视远景无法独立量出逐物理步脚板接触及腾空时长，二次弹跳的规则判定由 log step 191 现场裁判补足。评分器 reward 未报告 DAG 所列入水原生指标，故全部置 null。agent 在 log step 192 自述过早伸腿抵消板的上行速度，但缺乏板速度、接触力和质心轨迹，不能把这一具体动力学解释或其本地模拟结果当成已核实根因。" + }, + "summary_zh": "机器人已在板端屈伸压板并尝试起跳，但视频 1.68—1.88 s 显示短暂离板后回落，未前翻入水，完整跳水节点为 0/1。log step 191 的现场裁判以二次弹跳判负，起跳控制未形成可继续跳水的离板轨迹；后续脚本修改没有再次执行。无状态日志，精确接触时长及具体动力学原因无法独立核实，入水原生指标未报告。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、断点（二次弹跳，起跳处）、步态现象和停在“控制”的根因均有 log step 191 的服务读数和视频支持；未发现需修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:42:52Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-standard--xdspdkn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-springboard-3m-i00-standard--xdspdkn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b5b97f83d9b37c004d47e799e93a5076158018918005d4879c44fb31585efbb4", + "video_sha256": "a86d2c7ab9205a9b5982174470e8a450164aa4db4e9483ecf11b8cd50ce10ebe", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-privileged--fragrfz.json b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-privileged--fragrfz.json new file mode 100644 index 0000000000000000000000000000000000000000..e579cd15323f2d35d76e5c990529e82a62656568 --- /dev/null +++ b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-privileged--fragrfz.json @@ -0,0 +1,177 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-vault-i00-privileged--fragrfz", + "taskKey": "embodied-olympics-fun/vault", + "dag_sha256": "a1f52ddbddb968aa861d1edbedb34b470d89b71f3c09eecdf567d803c9dea268", + "outcome": { + "success": 0, + "reward": 0.25, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 4020, + "sim_steps": 4020, + "horizon": 8000, + "episode_over": 0, + "progress": 0.25, + "stages_reached": 1, + "stages_total": 4, + "fell": 0, + "replay_s": 27.96, + "bad_trajectory": 0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 569, + "agent_resets": 954, + "agent_replays": 4, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 2.934, + "peak_processes": 10, + "peak_disk_gb": 0.309, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 1, + "session_log_from_monitor": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-vault-i00-privileged--fragrfz/replay.mp4", + "duration_s": 40.24, + "fps": 25.0, + "frames": 1006, + "sha256": "a567886dbd50e8597a1f5e097a027867e4df0d0d1b3e15d677ad689d6ae2f708" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_landed_stable": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.5, + "log_step": null, + "text_zh": "观察：视频 0.5 s 机器人位于长跑道起点一侧，随后沿跑道向跳马行走；视频 33.0—38.0 s 接近并走上橙色弹簧板，尚未越过跳马。" + }, + { + "t": 40.2, + "log_step": 570, + "text_zh": "观察：视频 38.6—40.2 s 机器人在弹簧板上向前伸臂，末段双手抵在跳马近沿台面，骨盆和双腿仍在台前，蓝色落地垫上没有机器人；逐帧查看视频 39.2—40.2 s 未见越台、落垫或摔倒。log step 548 从交付文件全部动作生成末态快照，log step 570 对该快照列出左右掌垫与 table_top 的接触，以及右踝足部链节与 springboard 的接触，支持末段双手撑台的判读。" + }, + { + "t": null, + "log_step": 537, + "text_zh": "观察：log step 537 检查交付文件得到 actions 形状为 (4020, 141)；log step 490 的生成脚本只包含走近弹簧板、伸臂上板和深伸手撑台，随后保存。inputs/run.json 的评分器字段 stages_reached=1、stages_total=4、success=0、episode_over=0，与视频仅完成触台准备、未完成撑越落地站稳一致。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "支撑", + "note_zh": "观察：视频 39.2—40.2 s 机器人双臂向前抵住台面；交付末态快照的接触检查（log step 548、570）明确列出左、右固定掌垫同时触及 table_top，属于双手撑台，无抓握。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.5—38.0 s 机器人以双脚交替支撑沿跑道前进并踏上橙色弹簧板；视频 39.2—40.2 s 仍有脚部支撑弹簧板，与双手撑台同时发生。log step 570 的交付末态快照列出右踝足部链节接触弹簧板；未见脚接触远侧落地垫。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "vault_landed_stable", + "t": null, + "log_step": 490, + "where": "操作中", + "evidence_zh": "观察：视频 38.6—40.2 s 机器人完成上板伸手准备后仍停留在跳马近侧，没有越台或落垫；log step 490 的交付生成脚本在深伸手撑台后直接保存，log step 537 确认交付只有 4020 个动作，评分器仅记录四阶段中的触台阶段。该连续撑越步骤已经由助跑与撑手启动，却未完成；交付内没有可定位的突发失误或实际撑越失败动作，故失败时刻留空。" + }, + "unmet": { + "vault_landed_stable": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 725, + "source_zh": "日志", + "evidence_zh": "推断：agent 尚未得到从触台准备姿态继续完成撑越的有效控制动作。log step 490、537 显示交付仅保存到触台准备；log step 725 从交付末态快照尝试伸膝蹬板和双臂撑台，输出骨盆前向位置最高约 24.476 米后回落，log step 726 再试蹬板配合肩关节扫动，骨盆仍在约 24.48 米处且高度逐渐下降，均未达到任务远沿 x=26.2 米。这些是会话控制测试证据，只支持控制能力不足的宽泛归因，不作为评分视频中的失败现象，也不能确定具体控制子类。" + } + ], + "gap_zh": "观察：评分视频只有场馆全景，末端接触细节较小；inputs/ 中没有逐帧状态日志或成功示范。log step 548、570 的交付末态快照检查补充了双手和脚部接触证据，但没有完整接触时间线。交付段只含助跑、上板与撑手准备，没有真正越台的动作或可见的碰撞、跌落等失败事件，因此现象层留空，断点时刻不强行指定；log step 725、726 等后续起跳测试未写入交付，只用来推断宽泛控制根因，无法核实具体的控制缺陷。" + }, + "summary_zh": "机器人沿跑道走上弹簧板并双手触及跳马台面，只达到四个原生阶段中的第一个；始终未越过台面或踏上落地垫，完整撑越站稳节点为 0/1。交付止于撑手准备姿态，会话中的蹬板和推臂测试支持尚未解决撑越控制的推断。交付段没有实际撑越失败事件，且无逐帧状态日志和成功示范，故现象层与具体失败时刻留空。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成（0/1）、断点在撑越步骤、现象层留空并附 gap_zh、根因为会话证据支持的宽泛“控制”，均与视频、交付脚本（log step 490/537）及评分器字段（stages_reached=1/4）一致；未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:35:46Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-privileged--fragrfz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-privileged--fragrfz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fb42aa363ab4db79887de944ffbdf578ba95234738896954620ea51927867397", + "video_sha256": "a567886dbd50e8597a1f5e097a027867e4df0d0d1b3e15d677ad689d6ae2f708", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-privileged--ftz25ku.json b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-privileged--ftz25ku.json new file mode 100644 index 0000000000000000000000000000000000000000..28260b15eda18c4ecee870d89d2872ab8955c686 --- /dev/null +++ b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-privileged--ftz25ku.json @@ -0,0 +1,184 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-vault-i00-privileged--ftz25ku", + "taskKey": "embodied-olympics-fun/vault", + "dag_sha256": "a1f52ddbddb968aa861d1edbedb34b470d89b71f3c09eecdf567d803c9dea268", + "outcome": { + "success": 0, + "reward": 0.25, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 3608, + "sim_steps": 3608, + "horizon": 8000, + "episode_over": 1, + "progress": 0.25, + "stages_reached": 1, + "stages_total": 4, + "fell": 0, + "replay_s": 15.73, + "bad_trajectory": 0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 62, + "agent_resets": 718, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.241, + "peak_processes": 14, + "peak_disk_gb": 0.984, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-vault-i00-privileged--ftz25ku/replay.mp4", + "duration_s": 36.12, + "fps": 25.0, + "frames": 903, + "sha256": "148604c2622d77bede8bba645531614a9e3fc596c1fe1303c1c9e0a7b959374b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_landed_stable": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 机器人位于助跑道起点，跳马与蓝色落地垫在远处；视频 0.0–34.0 s 的抽帧显示机器人沿跑道向跳马行进。" + }, + { + "t": 35.72, + "log_step": 109, + "text_zh": "观察：视频 35.60–35.84 s 机器人从弹板位置向前伸出手臂，掌部到达台面近沿，身体仍在台前；log step 109 对交付 trajectory.npz 的独立重放仅记录 hands on the table 阶段，未记录越过、落垫或站稳。" + }, + { + "t": 36.08, + "log_step": 258, + "text_zh": "观察：视频 35.88–36.08 s 机器人身体向下倾斜，骨盆仍在跳马近侧且低于台面，未越到远侧蓝垫；最后一帧仍为该姿态。log step 258 对最终交付文件的重放结果为 success=false、steps=3608、stages=[hands on the table]，失败原因为 touched the table with something other than the hands；run.json 评分字段亦为 stages_reached=1/4、deterministic=1、success=0。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–35.6 s 机器人双脚交替支撑助跑地面，末段脚部到达橙色弹板并蹬伸；视频 36.0–36.08 s 脚部又降回弹板附近，未到远侧落地垫。" + }, + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "观察：视频约 35.72–36.08 s 至少一侧固定掌垫抵在棕色台面近沿，身体在台前下沉；log step 109、258 的交付文件重放裁判确认有效手触台。手掌未包夹台面；远侧手被遮挡，无法确认左右手是否同时触台。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "vault_landed_stable", + "t": 36.0, + "log_step": 258, + "where": "操作中", + "evidence_zh": "观察：视频 35.72–36.08 s 机器人已伸手触台，但骨盆未抬到台面上方，身体在近沿前向下倾斜，未完成越过；log step 258 的最终交付文件重放由裁判以非手部触台终止，且只接受手触台阶段。" + }, + "unmet": { + "vault_landed_stable": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 36.0, + "log_step": 258, + "evidence_zh": "观察：视频 35.88–36.08 s 机器人上身抵近跳马近沿，骨盆与腿仍低于台面，向前的撑越未通过台沿；log step 258 的最终交付文件重放明确报告 touched the table with something other than the hands，即除手以外的部位碰到了跳马并触发终止。远景不能确定是前臂、躯干还是其他非手部位。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 105, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：交付控制器采用按固定控制步数插值的下蹲、伸腿、腾空与落地关节姿态序列（log step 105，初始化错误已在 log step 107 修复），而视频 35.60–36.08 s 显示该序列使机器人前伸触台后身体继续下沉，未建立将骨盆抬到台面上方的撑越运动。log step 229 重新生成交付文件前后哈希相同、独立重放仍在非手部触台处失败，支持归因为交付动作的控制失败；现有证据不足以细分为接触布局、轨迹求解或反馈控制问题。" + } + ], + "gap_zh": "仅有 venue 远景视频，无状态日志或成功示范；已逐帧检查视频 35.40–36.08 s，但分辨率与身体遮挡使具体非手部碰撞链节、左右掌是否同时接触及精确受力无法确定。会话内其他快照试验不作为本次评分回合的进度证据；不能由 agent 自述的动力学极限断言任务无可行方案。" + }, + "summary_zh": "机器人沿助跑道行进并从弹板前伸触台，裁判只接受了手触台阶段，完整“撑越跳马站稳”节点始终未完成，最终为 0/1。视频 35.88–36.08 s 显示身体仍低于台面并在近沿前下沉，最终交付文件重放因非手部触台终止；固定姿态序列未形成有效的抬升与撑台衔接，归因于控制。远景及缺少状态日志限制了具体碰撞链节、双手接触与控制子类的判断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "单节点未达成（0/1，裁判仅记录“手触台”阶段）、断点、被挡/碰撞现象与控制根因均有视频帧（35.0–36.08 s 视频时钟）和 log step 109/229/258 的重放结果支持；log_step 按 steps[].id 引用，时钟无换算。根因停在“控制”未细分，符合证据。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:31:21Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-privileged--ftz25ku/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-privileged--ftz25ku/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7aa170361129ab8d07962177f24b7eaf3944bae443adc4beb2eaf35db1d84a63", + "video_sha256": "148604c2622d77bede8bba645531614a9e3fc596c1fe1303c1c9e0a7b959374b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-privileged--ojevhv4.json b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-privileged--ojevhv4.json new file mode 100644 index 0000000000000000000000000000000000000000..026dae7ec88a79521ebe76a45d5d6a24d220f633 --- /dev/null +++ b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-privileged--ojevhv4.json @@ -0,0 +1,188 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-vault-i00-privileged--ojevhv4", + "taskKey": "embodied-olympics-fun/vault", + "dag_sha256": "a1f52ddbddb968aa861d1edbedb34b470d89b71f3c09eecdf567d803c9dea268", + "outcome": { + "success": 0, + "reward": 0.75, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 5595, + "sim_steps": 5595, + "horizon": 8000, + "episode_over": 0, + "progress": 0.75, + "stages_reached": 3, + "stages_total": 4, + "fell": 0, + "replay_s": 29.37, + "bad_trajectory": 0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 102, + "agent_resets": 0, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-vault-i00-privileged--ojevhv4/replay.mp4", + "duration_s": 55.96, + "fps": 25.0, + "frames": 1399, + "sha256": "c8e2e5ab84a4287748874e27537fa6b810f92f9c6b9fd23d5624d7fb81ea9e25" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_landed_stable": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 40.0, + "log_step": 71, + "text_zh": "观察：视频约 40.0 s，机器人已到跳马近沿，手伸向台面；视频 43.0–50.0 s 机器人双臂向前撑台、双脚仍在台前地面，随后屈膝准备起跳。log step 71 的同一助跑前缀中，裁判已记录 hands on the table，首次有效接触为右手。" + }, + { + "t": 52.72, + "log_step": 183, + "text_zh": "观察：视频 51.2–52.4 s 机器人以手撑台、抬腿并翻转越过台面，视频约 52.72 s 脚先接触远侧蓝垫；视频 52.8–54.4 s 随即有明显反弹、躯干倾斜和反复屈伸。log step 183 的已重放前缀报告依序达到手触台面、越过台面、落垫三个裁判阶段。" + }, + { + "t": 55.92, + "log_step": 187, + "text_zh": "观察：视频 55.0–55.92 s 机器人仍在垫上调整倾斜姿态，末帧没有倒地；评分器字段 stages_reached=3、stages_total=4、success=0、episode_over=0、fell=0。log step 186 保存 extended.npz 时只保留恢复搜索至最优行的动作，log step 189 将其复制成交付文件，log step 190 确认交付含 5595 行；log step 187 该最优行报告仍只有前三阶段。" + }, + { + "t": 55.92, + "log_step": 187, + "text_zh": "推断：log step 187 被保存的最优行给出骨盆平移速度分量 [-0.306,0.353,-0.080] 米/秒，合速度约 0.474 米/秒，高于站稳要求的 0.35 米/秒；结合视频 52.8–55.92 s 的持续调整与评分器仅达三阶段，完整“撑越跳马站稳”节点始终未完成。日志中其他恢复测试的非脚部触垫或触台判负不属于已交付的截断轨迹。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "支撑", + "note_zh": "观察：视频 43.0–50.0 s 机器人双臂同时前伸撑住棕色台面，视频约 51.2–52.4 s 以手撑台越过；固定掌垫承重，无抓握。首次有效右手触顶见 log step 71，双掌位置及撑越姿态亦见 log step 152 的交付前缀记录。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0–50.0 s 机器人双脚在助跑道及台前地面行走、支撑；视频 43.0–50.0 s 脚部地面支撑与双手撑台同时存在。随后视频约 52.72–55.92 s 脚部在蓝色落地垫上承重、反弹并调整姿态。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "vault_landed_stable", + "t": 53.3, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约 52.72 s 机器人脚先落垫，但视频约 53.0–54.4 s 继续反弹、倾斜与屈伸，至视频 55.92 s 仍未完成低速站稳；评分器最终只接受四个阶段中的前三个，完整撑越站稳节点未达成。" + }, + "unmet": { + "vault_landed_stable": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 53.3, + "log_step": null, + "evidence_zh": "观察：视频 52.8–54.4 s 机器人落垫后身体反弹、向前倾斜，再反复伸腿和屈膝调整；视频 55.0–55.92 s 仍有姿态变化，未形成要求的连续一秒低速站立。已交付录像未见倒地，评分器 fell=0，跳跃的落地收势未完成。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 53.3, + "log_step": 187, + "source_zh": "日志", + "evidence_zh": "推断：落地后的制动与姿态控制未使运动收敛。log step 167、180 的恢复控制脚本以躯干俯仰、角速度及平移速度反馈调整踝髋目标，log step 186 保存其恢复分支、log step 189 复制成交付文件；log step 187 被保存的最优行骨盆合速度约 0.474 米/秒，仍超过 0.35 米/秒门限。视频 52.8–55.92 s 的反弹和持续姿态调整与此一致；证据不足以进一步归到某个增益、逆解或接触布局。" + } + ], + "gap_zh": "没有逐帧状态日志，且视频只有远景，不能独立量出每帧骨盆速度、躯干倾角、站稳连续计数或双掌受力分配；终态速度依据被复制成交付文件的搜索分支报告。日志中后续试验发生的摔落、非脚部触垫或非手部触台不能移用于本次已截断交付。" + }, + "summary_zh": "机器人完成手触台面、从台上越过和脚先落垫三个裁判阶段，但落地后反弹及姿态调整未收敛，未连续站稳一秒，因此唯一语义节点最终为 0/1（原生阶段为 3/4）。断点位于撑越步骤的落地收势，证据支持控制不足；录像末尾机器人尚未倒地，不能采用日志中后续测试的触垫判负。缺少逐帧状态日志，精确速度及站稳计数只能由匹配交付分支与评分结果辅助判断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "单节点未达成（3/4 阶段）与日志阶段时间（手触台 39.887 s、越过 52.373 s、落垫 52.713 s）及视频一致；断点、步态现象和控制根因均有日志和视频支持，未发现需要修改的错误。远景视频无法独立分辨姿态细节，标注已在 gap_zh 说明。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:35:09Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-privileged--ojevhv4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-privileged--ojevhv4/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8dd89bc5a7db12769b2006191300ae1146dd05eb33e5daa4bd2cbd28a3ab0176", + "video_sha256": "c8e2e5ab84a4287748874e27537fa6b810f92f9c6b9fd23d5624d7fb81ea9e25", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-privileged--oncykcb.json b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-privileged--oncykcb.json new file mode 100644 index 0000000000000000000000000000000000000000..f4435c9cc83e93dace51deaf6a52afd2c0f3eb2b --- /dev/null +++ b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-privileged--oncykcb.json @@ -0,0 +1,190 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-vault-i00-privileged--oncykcb", + "taskKey": "embodied-olympics-fun/vault", + "dag_sha256": "a1f52ddbddb968aa861d1edbedb34b470d89b71f3c09eecdf567d803c9dea268", + "outcome": { + "success": 0, + "reward": 0.25, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 5303, + "sim_steps": 5303, + "horizon": 8000, + "episode_over": 1, + "progress": 0.25, + "stages_reached": 1, + "stages_total": 4, + "fell": 0, + "replay_s": 22.16, + "bad_trajectory": 0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 207, + "agent_resets": 0, + "agent_replays": 8, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.096, + "peak_processes": 11, + "peak_disk_gb": 0.949, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-vault-i00-privileged--oncykcb/replay.mp4", + "duration_s": 53.04, + "fps": 25.0, + "frames": 1326, + "sha256": "3a3ede2ded1ffdfc9159ef276539c0393c4443362c6628e2c24df5306eeef249" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_landed_stable": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 31.8, + "log_step": 464, + "text_zh": "观察：视频 30.8–33.8 s，机器人站在弹簧板上，手伸向台面近沿，骨盆仍在台前；log step 464 对交付文件的重放事件记录左手有效触台（仿真 31.799 s）。" + }, + { + "t": 49.0, + "log_step": null, + "text_zh": "观察：视频 33.0–49.0 s 的逐秒帧中，机器人在台前反复踏步、上下起伏，手臂朝向台沿，身体没有从台面上方越过，远侧蓝垫始终无人落上。" + }, + { + "t": 53.0, + "log_step": 464, + "text_zh": "观察：视频 51.80–53.00 s 的逐帧画面中，机器人从板上向前倾靠台沿，仍未越台或落垫；log step 464 的交付重放仅记录 hands on the table 阶段，随后因 right_upper_arm 触台判负。评分字段 stages_reached=1、stages_total=4，与未完成完整撑越一致。" + }, + { + "t": 31.8, + "log_step": 464, + "text_zh": "推断：交付重放执行 5303 个控制步，每步 0.01 s，总长仿真 53.03 s，与视频 53.04 s 相符；左手触台事件仿真 31.799 s 已在视频约 31.8 s 的台沿伸手画面核对，因此以视频约 31.8 s 与 53.0 s 作导航锚点，不使用 agent 工作时间。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "观察：视频约 31.8 s 后手部伸抵台面近沿、双脚仍在板上；交付重放的左手有效触台事件见 log step 464。记录至少左手与台面的支撑接触，不据双臂目标姿态推定双手同时承重。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人先以双脚沿助跑道行走，再踏上弹簧板；视频约 31.8–49.0 s，脚在板上支撑、踏步，与手触台同时发生。没有到远侧落地垫上的脚部支撑。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "vault_landed_stable", + "t": 53.0, + "log_step": 464, + "where": "操作中", + "evidence_zh": "观察：视频约 31.8 s 后机器人撑向台沿但始终留在台前，视频 52.6–53.0 s 上身向台边前倾，尚未越过；log step 464 对交付轨迹的重放在仿真 53.021 s 记录右上臂触台并终止，未达到落垫、站稳阶段。" + }, + "unmet": { + "vault_landed_stable": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 53.0, + "log_step": 464, + "evidence_zh": "观察：视频 52.6–53.0 s，机器人向固定跳马近沿倾靠，身体仍在台前；log step 464 的交付文件重放事件明确指出触台部位为 right_upper_arm，失败原因是非手部触台。该碰撞结束了尚未完成的撑越。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 53.0, + "log_step": 257, + "source_zh": "日志", + "evidence_zh": "推断：log step 257 的交付生成脚本始终发送 walk 指令，前进指令为 0.8 m/s，仅在骨盆 x≥24.35 m 后切换为固定肩、肘、腕目标，没有后续抬升、撑推、收腿越台的动作段；log step 446 再次读取的生成脚本相同，log step 461、497 重新运行该脚本。结合视频约 31.8–49.0 s 持续在板上踏步而未越台，以及 log step 464、484 重放一致的上臂碰台结果，可归因为交付控制未形成有效的全身撑越运动；现有证据不足以细分为接触设计、逆解或反馈控制问题。" + } + ], + "gap_zh": "输入没有状态日志或成功示范；视频只有低分辨率 venue 远景，无法逐帧区分左右手是否同时承重，也无法直接辨清最后的具体碰撞链节。左手有效触台、右上臂违例的身份依据是 log step 464 对交付文件的重放裁判事件；log step 484 再次重放给出相同终态哈希及失败结果。控制根因只作大类推断，不把会话中其他起跳或撑推试验当作交付动作。" + }, + "summary_zh": "机器人完成助跑、上板和有效手触台，但一直未从台面上方越过，也未在远侧蓝垫落地站稳，唯一语义节点完成 0/1（裁判原生阶段为 1/4）。视频约 53.0 s 机器人前倾靠台，交付重放记录右上臂触台而终止；交付脚本持续行走及固定抬臂，未形成有效撑越运动，根因归入控制。远景分辨率及无状态日志限制了双手承重和碰撞细节的直接核实。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与证据一致：唯一节点未达成，裁判阶段 1/4，右上臂触台终止；视频时长 53.04 s 与重放 53.03 s 吻合，时钟未转换；根因停在“控制”并注明证据不足以细分，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:30:52Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-privileged--oncykcb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-privileged--oncykcb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8270e0cd12671191549a54a0861e477ed6e47823878f9203d4080b95a8e22f3c", + "video_sha256": "3a3ede2ded1ffdfc9159ef276539c0393c4443362c6628e2c24df5306eeef249", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-privileged--qdonori.json b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-privileged--qdonori.json new file mode 100644 index 0000000000000000000000000000000000000000..9ad88cdd1db1d28fd99c6767611df675114352e7 --- /dev/null +++ b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-privileged--qdonori.json @@ -0,0 +1,183 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-vault-i00-privileged--qdonori", + "taskKey": "embodied-olympics-fun/vault", + "dag_sha256": "a1f52ddbddb968aa861d1edbedb34b470d89b71f3c09eecdf567d803c9dea268", + "outcome": { + "success": 0, + "reward": 0.25, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 4222, + "sim_steps": 4222, + "horizon": 8000, + "episode_over": 1, + "progress": 0.25, + "stages_reached": 1, + "stages_total": 4, + "fell": 0, + "replay_s": 26.35, + "bad_trajectory": 0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 56, + "agent_resets": 0, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.033, + "peak_processes": 21, + "peak_disk_gb": 0.248, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-vault-i00-privileged--qdonori/replay.mp4", + "duration_s": 42.24, + "fps": 25.0, + "frames": 1056, + "sha256": "5be00f6825cd60480682a38751548679ddf5c19d526016239f7d461c6cf17be0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_landed_stable": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 机器人站在助跑道起点；视频 2.0–38.0 s 的全景抽帧显示机器人沿助跑道走向跳马，尚未越台或到达远侧蓝垫。" + }, + { + "t": 40.2, + "log_step": 89, + "text_zh": "观察：视频约 40.2–41.2 s，机器人在台前前倾、伸出掌垫并起跳，手端到达棕色台面近沿；正式重放交付文件的裁判输出（log step 89）记录 stages=[\"hands on the table\"]，只接受了手触台面阶段。" + }, + { + "t": 42.2, + "log_step": 89, + "text_zh": "观察：视频 41.2–42.2 s，机器人未越到跳马远侧，身体在近侧持续降低并倒伏在台前；视频最后一帧 42.2 s 蓝色落地垫仍为空。log step 89 对交付文件的正式重放报告 failed=\"did not pass over the table\"、success=false、progress=0.25；输入 reward 亦为 stages_reached=1/4、success=0，因此完整撑越并站稳节点从未成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "观察：视频约 40.2–41.2 s 机器人固定掌垫伸抵棕色跳马台面，log step 89 的正式重放裁判确认至少一只手有效触顶；以掌垫撑台而非抓握。远景不能确认左右手身份及双手是否同时承重，此项仅记可确认的至少一手触台支撑。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–40.6 s 机器人双脚交替支承助跑和台前准备，伸手触台时脚仍在近侧支撑面；随后起跳、在近侧下落并倒伏，未形成远侧蓝垫上的脚部站稳。远景不能分清台前脚掌是否碰到弹簧板边缘。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "vault_landed_stable", + "t": 41.8, + "log_step": 89, + "where": "操作中", + "evidence_zh": "观察：视频约 40.8 s 机器人从台前起跳，视频 41.2–42.2 s 未越过台面，反而在近侧屈折下沉、倒伏；最后一帧仍在台前。log step 79 保存并重新生成了交付轨迹，log step 89 正式重放同一交付文件，裁判只记录手触台面并以“did not pass over the table”终止；失败发生在撑越动作中。" + }, + "unmet": { + "vault_landed_stable": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 41.8, + "log_step": null, + "evidence_zh": "观察：视频 41.6–42.2 s，机器人在跳马近侧身体持续前倾下沉，腿部折叠，最终躯干低伏在台前支撑面附近，未保持直立支撑，也未落到远侧垫上。该失衡可见于末段连续抽帧；reward 的 fell=0 不替代画面中实际发生的倒伏。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 63 的动作生成脚本明确依次安排伸手触台、收腿、手臂推撑、伸腿落地和缓冲；log step 76、79 将该类 lowcmd 关节指令段与步行前缀生成交付文件，log step 89 正式重放确认只达到手触台面。结合视频 40.8–42.2 s 的起跳后近侧下落、失衡，失败来自撑越全身动作未能实现所需的抬升与支撑；现有证据只能定位到控制，不能区分接触设计、轨迹或反馈子类。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "输入没有状态日志，也没有成功示范；视频只有远距离全景，不能量化骨盆高度、支撑力和关节跟踪误差，不能分辨左右掌垫及其是否同时承重，也不能精确确认台前脚掌与弹簧板边缘的接触。log step 89 的交付文件正式重放及 reward 一致确认仅达手触台面阶段，但上述缺口使更具体的控制根因无法确定；其他会话搜索试验不作为本次轨迹的动作事实。" + }, + "summary_zh": "机器人完成助跑接近并触到跳马台面，原生裁判达到 1/4 阶段，但“撑越跳马站稳”这一完整语义节点为 0/1。视频约 41.8–42.2 s 机器人在台前失衡下落，未越台、未落到远侧垫上；交付文件正式重放以“did not pass over the table”失败，根因保留为控制。缺少状态日志且全景分辨率有限，无法进一步确认双手接触分工和控制子类。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成、断点 vault_landed_stable、平衡现象与控制根因均与视频末段（40.5–42.2 s 机器人在台前倒伏、蓝垫为空）及 log step 89 的正式重放（failed=did not pass over the table, stages=[hands on the table], 4222 步≈42.2 s）一致；根因停在控制并如实注明证据缺口。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:34:21Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-privileged--qdonori/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-privileged--qdonori/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "164fa8ebdd04babb83195c6980d20a65c0b88e1dcdcc35d9c90ef4c7c7e77f06", + "video_sha256": "5be00f6825cd60480682a38751548679ddf5c19d526016239f7d461c6cf17be0", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-privileged--rh5kroe.json b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-privileged--rh5kroe.json new file mode 100644 index 0000000000000000000000000000000000000000..208c2edf6bd81a1f6f01b95997a803d4c59e4b6e --- /dev/null +++ b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-privileged--rh5kroe.json @@ -0,0 +1,190 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-vault-i00-privileged--rh5kroe", + "taskKey": "embodied-olympics-fun/vault", + "dag_sha256": "a1f52ddbddb968aa861d1edbedb34b470d89b71f3c09eecdf567d803c9dea268", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 7995, + "sim_steps": 7995, + "horizon": 8000, + "episode_over": 0, + "progress": 0.0, + "stages_reached": 0, + "stages_total": 4, + "fell": 0, + "replay_s": 27.58, + "bad_trajectory": 0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 143, + "agent_resets": 0, + "agent_replays": 5, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.933, + "peak_processes": 20, + "peak_disk_gb": 0.253, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-vault-i00-privileged--rh5kroe/replay.mp4", + "duration_s": 79.96, + "fps": 25.0, + "frames": 1999, + "sha256": "c6eca026f445db1093f31732f2476e4d993969bf7fd36eb919681f0a3e39c9e8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_landed_stable": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0–36 s，机器人从助跑道起点向跳马步行，尚未越台或进入远侧蓝色垫。" + }, + { + "t": 37.25, + "log_step": null, + "text_zh": "观察：视频 36.75–37.25 s，机器人在黄色弹簧板附近前倾并降到俯卧低位，身体留在跳马近侧；视频 38–43 s 继续在台前低位活动。" + }, + { + "t": 44.25, + "log_step": null, + "text_zh": "观察：视频 44.25–44.5 s，机器人撑高上身，但手臂和身体仍在台面下方；视频 45–48 s 又回到低姿，未见手部搭上台面顶部或骨盆越台。" + }, + { + "t": 79.8, + "log_step": 118, + "text_zh": "观察：视频 50–78 s 的抽帧及视频 79.0、79.2、79.4、79.6、79.8 s，机器人持续停在跳马近侧低姿，远侧蓝色垫没有机器人落地；log step 118 对最终交付文件的独立重放报告 success=false、stages=[]、executed_rows=7995，评分器字段 stages_reached=0/4，与视频一致。log step 33 的手触台记录来自人为设置初始姿态的会话测试，不属于交付回合。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0–36 s，机器人双脚交替接触助跑道地面承重前进；视频 37.25–43 s 转为台前俯卧低位，腿/躯干接触近侧地面及黄色弹簧板附近支承面，之后低姿留在原处，未落到远侧蓝色垫。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 44.25–44.5 s，机器人上肢朝近侧地面撑起身体；远景分辨率及身体遮挡不足以区分具体由掌垫还是前臂承重、单臂还是双臂同时接触，故上肢实际接触类型记未知；未见有效手撑台面顶部。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "vault_landed_stable", + "t": 44.25, + "log_step": 115, + "where": "操作中", + "evidence_zh": "观察：视频 44.25–44.5 s，机器人在跳马近侧尝试撑起上身，手部仍低于台面顶部，随后又降低姿态；视频 48–79.8 s 始终未建立台面支撑、未越台。log step 115 的最终生成及重放输出 stages=[]，log step 118 对该文件独立重放仍为 stages=[]，因此失败发生在撑越步骤的有效手触台尚未建立处。" + }, + "unmet": { + "vault_landed_stable": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 44.25, + "log_step": 118, + "evidence_zh": "观察：视频 43–47.75 s，机器人在台前低位抬身、落回，双臂始终没有搭上可见的台面顶部，后续至视频 79.8 s 仍保持低姿；log step 118 的交付文件独立重放报告 stages=[]、events=[]，没有裁判的有效手触台阶段。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 44.25, + "log_step": 107, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：agent 的脚本在 log step 90、106–107 用开环关节关键帧串联接近段和起身段，再保持末姿；log step 115 显示最终生成回合的起身段结束仍无裁判阶段，视频 43–47.75 s 也显示机器人只能低位撑起后回落，未把手部送到台面顶部。因此证据支持起身至触台的全身动作控制未实现；尚不能定位到特定增益、关节限位或接触布局。" + } + ], + "gap_zh": "没有状态日志，也没有成功参考视频；现有录像只有远景，无法精确分辨台前支地的上肢链节、左右手分工或接触力，控制根因仅到大类。agent 在 log step 86、118 明确采用前倒、爬行再起身的接近策略，故视频约 37 s 的俯卧本身不足以证明意外失衡；失败依据是后续始终未建立有效手触台，且评分器记录四阶段均未达到。" + }, + "summary_zh": "机器人沿助跑道到达跳马近侧，在视频约 37 s 转为俯卧前移，视频约 44 s 尝试撑起后仍停留低姿，至视频 79.8 s 未越台或落垫，唯一节点“撑越跳马站稳”未完成（0/1）。失败卡在有效手触台未建立：交付脚本的起身关键帧没有把手部送上台面，独立重放也记录四阶段均未达到。无状态日志且录像为远景，上肢具体支地接触和更细控制原因无法确认。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "单节点未达成（评分器 stages_reached=0/4）与视频一致：机器人到跳马近侧后俯卧、撑起又回落，始终未搭台、未越台。断点、没建立接触、控制（停在大类）均有证据支持，且已标为推断，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:32:43Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-privileged--rh5kroe/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-privileged--rh5kroe/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ad79c8be793b5c9f265b1f150c4587f07d5185db4f0a11fa16bbb67edcc5d493", + "video_sha256": "c6eca026f445db1093f31732f2476e4d993969bf7fd36eb919681f0a3e39c9e8", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-privileged--wxtahkw.json b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-privileged--wxtahkw.json new file mode 100644 index 0000000000000000000000000000000000000000..09a9b6a3c6f509e358da0ddab338bf0de2ea7dd6 --- /dev/null +++ b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-privileged--wxtahkw.json @@ -0,0 +1,185 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-vault-i00-privileged--wxtahkw", + "taskKey": "embodied-olympics-fun/vault", + "dag_sha256": "a1f52ddbddb968aa861d1edbedb34b470d89b71f3c09eecdf567d803c9dea268", + "outcome": { + "success": 0, + "reward": 0.25, + "source": "catalog", + "raw": { + "success": 0, + "replay_success": 0, + "deterministic": 1, + "n_actions": 5550, + "sim_steps": 5550, + "horizon": 8000, + "episode_over": 0, + "progress": 0.25, + "stages_reached": 1, + "stages_total": 4, + "fell": 0, + "replay_s": 23.32, + "bad_trajectory": 0, + "grader_error": 0, + "video_rendered": 1, + "agent_sessions": 36, + "agent_resets": 37, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 3.366, + "peak_processes": 18, + "peak_disk_gb": 0.256, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-vault-i00-privileged--wxtahkw/replay.mp4", + "duration_s": 55.52, + "fps": 25.0, + "frames": 1388, + "sha256": "caacd8b6abb7300629830953395fe128be0eb2e05ee1235acfa87e7b45ef6be8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_landed_stable": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 机器人站在助跑道起点，跳马和远侧蓝色落地垫均在前方，尚未撑越。" + }, + { + "t": 41.8, + "log_step": null, + "text_zh": "观察：视频 35.0–41.8 s 机器人走至跳马近沿并将手伸向台面，骨盆一直留在台前；评分器 reward.stages_reached=1、stages_total=4、progress=0.25，记录了触台阶段，未记录越过、落垫和站稳。" + }, + { + "t": 42.2, + "log_step": 161, + "text_zh": "观察：视频 42.1–43.2 s 机器人向后倾倒并落在跳马前方地面，未越过台面；视频 43.2–55.48 s 始终躺在台前，蓝色落地垫无人落入。log step 161 对已保存的 5550 行交付轨迹作两次独立重放，均返回 success=false、终态骨盆高度 0.074 米，与倒地画面一致；完整撑越站稳节点从未完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "观察：视频 36.2–41.8 s 机器人手部伸至跳马近沿；结合评分器已记录触台阶段，可确认至少一只固定掌垫接触台面顶部，非抓握。全景分辨率不足以区分左右手及是否双手同时承重，不把调试中的右手接触记录当成本次回放的手别证据。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–41.8 s 机器人双脚交替承重沿助跑道前进，并在台前伸手时继续以脚部支撑；视频 42.1–43.2 s 失衡后身体落到台前地面，随后持续躺倒，未在远侧蓝垫建立脚部支撑。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "vault_landed_stable", + "t": 42.2, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 41.6–41.96 s 机器人在台前伸臂、屈腿，视频约 42.2 s 躯干明显后仰，随后向后倒地；至视频 55.48 s 未起身或越台。机器人正在执行撑越动作，失败步骤是撑越跳马站稳。" + }, + "unmet": { + "vault_landed_stable": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 42.2, + "log_step": null, + "evidence_zh": "观察：视频 42.12–42.44 s 机器人在跳马近侧后仰、脚下支撑未能稳住躯干，视频 42.76–43.16 s 身体降至地面并横卧台前；视频最后一秒仍未恢复站立。评分器虽给 fell=0，画面中的实际倒地清楚可见。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": 42.2, + "log_step": 147, + "evidence_zh": "推断：log step 147 的交付生成脚本以时间索引的关节目标 V.target_at(knots,i*0.01) 和固定关节增益生成低层动作，log step 161 保存并重放这批动作后两次均以骨盆高度 0.074 米结束；视频 41.6–43.2 s 对应动作未能维持全身支撑并向后倒地，说明本次撑越动作的控制未建立稳定的起跳和支撑过程。没有足够证据将其细分为增益、轨迹或反馈问题。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "没有逐帧状态日志，视频仅有远距离全景，无法精确分辨掌垫接触的手别、双手同时性、接触力和失衡的具体控制子因。log step 151 的前臂触台终止是会话调试结果；已交付轨迹在 log step 161、163 重放均为 failed=null，视频也继续到倒地后，因此不将该调试违例归于本次评分回放。" + }, + "summary_zh": "机器人走到跳马前并达到裁判的触台阶段（1/4），但未越过跳马、落到远侧垫上或站稳，完整语义节点完成 0/1。视频约 42.2 s 机器人在撑越动作中向后失衡倒地，随后一直躺至结束，根因保守归为控制。远景和缺少状态日志限制了手部接触及控制子因的判定；会话调试中的前臂碰台终止不代表交付回放。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频一致：机器人走到跳马前触台（评分器 1/4），约 42 s 后倒在台前，节点未达成，断点、平衡现象与保守的控制根因均有证据支持。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:35:10Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-privileged--wxtahkw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-privileged--wxtahkw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "940b2dd5fc4fd166d078b386ec0a54a13d538a01ff450ccb360ee28b1f0f6a24", + "video_sha256": "caacd8b6abb7300629830953395fe128be0eb2e05ee1235acfa87e7b45ef6be8", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-standard--5ly495b.json b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-standard--5ly495b.json new file mode 100644 index 0000000000000000000000000000000000000000..8eef43cda3e5f169f2e64d656a7f09d655a91728 --- /dev/null +++ b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-standard--5ly495b.json @@ -0,0 +1,199 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-vault-i00-standard--5ly495b", + "taskKey": "embodied-olympics-fun/vault", + "dag_sha256": "a1f52ddbddb968aa861d1edbedb34b470d89b71f3c09eecdf567d803c9dea268", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 8000, + "sim_steps": 39895, + "calls": 1058, + "rows": 33245, + "resets": 7, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 2301.0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 6.619, + "peak_processes": 14, + "peak_disk_gb": 0.779, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-vault-i00-standard--5ly495b/replay.mp4", + "duration_s": 80.04, + "fps": 25.0, + "frames": 2001, + "sha256": "10a8a0e51b0ca12d10ec7674fe8cb51237632e3f54cb37e9a3f69c05fb9251e5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_landed_stable": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 机器人站在远离跳马的助跑起点；视频 4–36 s 机器人沿跑道步行接近跳马，没有越台。" + }, + { + "t": 66.0, + "log_step": 96, + "text_zh": "观察：视频 63.5–65.5 s 机器人抬起双臂再向台面降手，视频 66.0 s 起至少一只手停在台面上，双脚仍在台前，骨盆没有升到台面上方。log step 96 是最后一次 safe 在线回合的调用及服务返回，裁判给出 stages_reached=1、stages_total=4、outcome=time，与画面只触台而未越过相符。" + }, + { + "t": 80.0, + "log_step": 100, + "text_zh": "观察：视频 66–80.0 s 机器人一直站在跳马近侧，手臂前伸，未起跳越过跳马，也未踏上远侧蓝色落地垫；已检查视频 79.0–80.0 s 的末段画面。log step 100 的服务状态为最后一局 episode=8、control_steps=8000、done=true、reason=failed。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "观察：视频约 66–80.0 s 至少一只固定掌垫落在跳马台面上并保持接触，另一只手的有效接触受远景遮挡而无法确认；按能确认的单手支撑记录。掌垫未夹住台面。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人在视频 0–36 s 用双脚交替支撑地面并步行接近跳马，之后在台前站立；视频约 66–80.0 s 脚部支撑与手撑台同时存在。未发生脚部接触远侧蓝色落地垫。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "vault_landed_stable", + "t": 66.0, + "log_step": 96, + "where": "首步前", + "evidence_zh": "观察：视频约 66.0 s 机器人降手触台后保持台前站姿，直到视频 80.0 s 均未起跳或撑起前移，骨盆未越过台面；已完成接近与触台准备，但撑越运动没有启动。log step 72 的 gen.py safe 分支只提交抬臂、降手关键帧并等待回合结束；log step 96 最后在线回合调用该分支，服务裁判返回 stages_reached=1/4、outcome=time。因此断点仍为撑越跳马站稳，位置记撑越运动首步前。" + }, + "unmet": { + "vault_landed_stable": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 66.0, + "log_step": 96, + "evidence_zh": "观察：log step 96 的评分回合执行 gen.py safe；log step 72 所示 safe 分支仅接近、抬臂、降手并保持，不提交起跳或撑越关键帧。视频 66–80.0 s 机器人只扶台站立，双脚留在台前，未起跳或撑起越台，骨盆未离开近侧；服务返回 stages_reached=1/4、outcome=time。" + } + ], + "root_causes": [], + "gap_zh": "没有状态日志或成功参考视频；所给视频只有远景，无法确认左右掌垫各自的接触时刻、接触力及承重，故手部仅记录可确认的至少单手支撑。根因留空：log step 86 的真实服务会话测试因非手部触台而终止（stages_reached=0），只能证明此前一次 vault 控制尝试失败，不能证明最终 safe 回合发生了撑越控制失败，也不足以区分其未启动撑越的具体根因；log step 89–95 的自建仿真未经一致性验证，不作为本次控制根因依据。agent 在 log step 100–101 所称跳高和臂力不足待核实，不能据此认定任务无解；其停止决定本身也不构成推理/规划根因（CASES.md FAIL-22）。" + }, + "summary_zh": "最终评分回合完成助跑接近跳马，在视频约 64–66 s 抬臂并触台，此后站在台前至视频 80.0 s，没有启动起跳或撑越，唯一语义节点最终为 0/1，log step 96 的服务裁判仅记录原生阶段 1/4。交付的 safe 分支只触台并保持，失败现象改为没尝试，断点位于撑越运动首步前；此前会话的 vault 测试失败不足以确定本次未启动撑越的具体根因，故根因留空。置信度为 7：未撑越及最终进度有视频和服务结果支持，但缺少状态日志、精细接触与充分的根因证据。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点值(0/1)、时间与接触基本符合画面和裁判 stages_reached=1/4。但失败现象 全身·步态 不成立：最终评分回合交付的是 agent 自选的「safe」只触台关键帧（log step 96/98/101），其中根本没有撑越/跳跃运动，机器人也没有步态问题；这属于 FAIL-23（对未交付的运动给运动现象）。应改为 没尝试，并相应调整断点 where 与根因（控制根因仅有会话测试支持，不应写成评分回合的控制失败）。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点 0/1、断点（首步前）、现象 没尝试 与画面及裁判 stages_reached=1/4 相符；根因留空并有 gap_zh，合理。第一轮问题已修复。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:46:50Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-standard--5ly495b/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-standard--5ly495b/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-standard--5ly495b/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-standard--5ly495b/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f029e92c04c2bbe37353c9af3fb1394e6b910f1528ef506f1cb4153ccca5ce9b", + "video_sha256": "10a8a0e51b0ca12d10ec7674fe8cb51237632e3f54cb37e9a3f69c05fb9251e5", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-standard--8aa6aba.json b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-standard--8aa6aba.json new file mode 100644 index 0000000000000000000000000000000000000000..aedb5e5c8a009085762024371a72bd084ce5c045 --- /dev/null +++ b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-standard--8aa6aba.json @@ -0,0 +1,199 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-vault-i00-standard--8aa6aba", + "taskKey": "embodied-olympics-fun/vault", + "dag_sha256": "a1f52ddbddb968aa861d1edbedb34b470d89b71f3c09eecdf567d803c9dea268", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 8000, + "sim_steps": 23219, + "calls": 267, + "rows": 23219, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 2460.4, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 3, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.193, + "peak_processes": 9, + "peak_disk_gb": 0.242, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-vault-i00-standard--8aa6aba/replay.mp4", + "duration_s": 80.04, + "fps": 25.0, + "frames": 2001, + "sha256": "4361709214ffd8fe8684d971b8652048a0bf305c24259885863b1da8724e28f3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_landed_stable": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 107, + "text_zh": "观察：视频 0.0 s 机器人位于蓝色助跑带起点，跳马和落地垫在远处；log step 107 服务重置为 episode 6、control_steps=0，log step 108 启动最后一次 a7 控制脚本。评分器 graded_by_live=1，故只标注这个最后在线回合，不累计此前重置测试。" + }, + { + "t": 32.0, + "log_step": 109, + "text_zh": "观察：视频 10.0–32.0 s 机器人逐渐走到助跑带侧面的地板上，视频 32.0–50.0 s 虽继续向前移动，但仍明显远离跳马，未发生手触台或越台。" + }, + { + "t": 52.4, + "log_step": 109, + "text_zh": "观察：视频 51.8 s 机器人在跳马前方远处前倾，视频 52.2–52.4 s 倒在地板上；视频 54.0–78.0 s 的间隔检查及视频 79.0–80.0 s 每隔 0.2 s 的末段检查均见机器人在地面翻动，未到达跳马或远侧垫。撑越及落垫站稳的完整事件始终未发生。" + }, + { + "t": 80.0, + "log_step": 112, + "text_zh": "观察：log step 112 中服务在仿真 80.0 s 返回 done=True、reason=failed、outcome=time；视频 80.0 s 机器人仍在跳马近侧地板上。评分器 success=0 与画面一致。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–51.6 s，机器人以双脚交替支撑地板行走、转向并准备起跳；视频 52.4 s 后身体倒在地板上并翻动。未见手部接触跳马、脚部接触弹簧板或落地垫，不据预定撑台方案添加双臂接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "vault_landed_stable", + "t": 51.8, + "log_step": 109, + "where": "操作中", + "evidence_zh": "观察：视频 51.8–52.4 s，机器人在远离跳马的近侧地板上执行起跳准备后前倾倒地，此前已偏离助跑带，始终没有触台；之后直到视频 80.0 s 仍未完成撑越。log step 109 记录最后回合的 V1 crouch、V2 explode、V3 plant? 随后返回 miss；该连续跳马步骤未被修复。" + }, + "unmet": { + "vault_landed_stable": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 20.0, + "log_step": 109, + "evidence_zh": "观察：视频 10.0–32.0 s 机器人一边走一边偏离通向跳马的蓝色助跑带，视频 32.0 s 已在侧方地板上；视频 46.0–50.0 s 仍远离弹簧板和跳马。助跑行进没有到达起跳位置，这与随后独立发生的倒地不同。" + }, + { + "cat": "全身", + "item": "平衡", + "t": 51.8, + "log_step": 109, + "evidence_zh": "观察：视频 51.8 s 机器人躯干开始明显前倾，视频 52.0 s 倾斜加剧，视频 52.2–52.4 s 身体降至地板并倒下；随后视频 54.0–80.0 s 仍在地面翻动，未恢复完成跳马。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "source_zh": "日志", + "evidence_zh": "推断：最后回合的视觉定位把错误像素簇当作机器人位置并用于导航。log step 109 中脚本在仿真 31.0 s 给出估计位置 (9.42,20.24)，仿真 33.0 s 又给出 (9.64,-7.08)，横向估计突变约 27 m；视频 30.0–34.0 s 机器人只在同一侧方地板上小幅行走，没有对应位移。agent 在 log step 110、123 也明确自述深色像素跟踪误锁；画面中的持续偏航支持该定位错误影响了助跑。这些坐标是脚本估计，不作真实世界位置使用。" + }, + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：控制脚本的接近阶段退出与后续动作衔接缺少有效位置验收，使机器人未到器械就执行起跳序列。log step 54 的 goto 代码以当前仿真时间 t>max_t 返回，log step 100 的主流程在 nav、strip_final 后直接调用 ramp_climb 和 vault；log step 109 显示 strip_final 在同一仿真 46.2 s 即退出，随后 on_board=False、脚本估计 x=13.85 仍启动 crouch/explode/plant 并返回 miss。agent 在 log step 110、123 承认把绝对 max_t 当作相对时长；视频 51.8–52.4 s 证实动作在远离器械处导致倒地。无法进一步从现有数据区分具体关节轨迹、增益或力矩的问题，保留控制总类。" + } + ], + "gap_zh": "没有状态日志或成功参考视频，远景可确认偏航、倒地及未触台，但不能确定倒地瞬间各链节的接触力与关节误差。agent 在 log step 111、123 根据仿真 55.0 s 的 mode=1 和 pitch≈1.9° 自述恢复站立；视频 55.0–80.0 s 仍见机器人在地面，故不采信这项姿态解读，也不据此声称视频或评分器异常。日志代码部分被截断，max_t 误用的具体传参依 agent 自述与阶段无时间推进的输出交叉支持。" + }, + "summary_zh": "最后在线回合只完成部分助跑，偏离助跑带后仍远离器械，撑越跳马站稳节点始终未达成（0/1）。视频约 52 s 机器人在地板上执行起跳准备后倒下，定位误锁及控制脚本在接近未完成时继续起跳解释了失败；服务最终在仿真 80.0 s 判定失败。无状态日志，且 agent 所称仿真 55.0 s 恢复站立与视频不符，节点和倒地判断以视频为准。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点未达成（0/1）、倒地约 52 s、偏离助跑带均与视频一致；断点、现象和根因未见与证据矛盾之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:34:08Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-standard--8aa6aba/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-standard--8aa6aba/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0b3ccf79a0f0b31968ac6ef660ade2ef617301171f1be40d6099ded0486c8b9a", + "video_sha256": "4361709214ffd8fe8684d971b8652048a0bf305c24259885863b1da8724e28f3", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-standard--akrvnjk.json b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-standard--akrvnjk.json new file mode 100644 index 0000000000000000000000000000000000000000..601f753f2f6fb82451956deea52b423fec98f3cf --- /dev/null +++ b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-standard--akrvnjk.json @@ -0,0 +1,186 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-vault-i00-standard--akrvnjk", + "taskKey": "embodied-olympics-fun/vault", + "dag_sha256": "a1f52ddbddb968aa861d1edbedb34b470d89b71f3c09eecdf567d803c9dea268", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 3613, + "sim_steps": 22683, + "calls": 531, + "rows": 22414, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 2591.2, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.325, + "peak_processes": 12, + "peak_disk_gb": 1.017, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-vault-i00-standard--akrvnjk/replay.mp4", + "duration_s": 36.16, + "fps": 25.0, + "frames": 904, + "sha256": "dd912a629342a65eab8a5e68822bddb5aa65103b1b21ed43809d07253528d5e2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_landed_stable": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 机器人位于助跑道起点；视频 2.0–34.0 s 的每两秒抽帧显示机器人沿跑道走向跳马，没有发生越台或落到远侧蓝垫的动作。" + }, + { + "t": 36.12, + "log_step": 128, + "text_zh": "观察：视频 35.8–36.12 s 的逐帧检查显示机器人在弹簧板与跳马近沿之间前倾，身体仍在台前，末帧未越台、未落垫。log step 128 的机器人服务返回 episode=6、control_steps=3613、done=true、outcome=\"touched the table with something other than the hands\"、stages_reached=0/4，完整撑越站稳从未达成。" + }, + { + "t": 36.12, + "log_step": 126, + "text_zh": "推断：评分视频对应最后的第 6 回合，而非前五次测试；log step 20 的服务说明只评分最后回合，log step 128 确认第 6 回合终止。log step 6 给出 control_dt=0.01 s，终止控制步 3613 对应回合 36.13 s，与视频 36.12 s 台前前倾及视频总长 36.16 s 相符；此映射仅使用回合控制步，不使用 agent 工作时间。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–35.8 s 机器人以双脚交替支撑地面前进，末段脚部踏上台前橙色弹簧板；未到达远侧蓝色落地垫。" + }, + { + "who": "未知", + "how": "其他", + "note_zh": "观察：视频 36.0–36.12 s 机器人向跳马近侧前倾；log step 128 的服务裁判确认发生非手部触台，但远景不足以区分膝、前臂等具体作用端。候选接触方式为“碰撞”：这是意外触台，并非抓握、压擦或有意承重支撑。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "vault_landed_stable", + "t": 36.0, + "log_step": 128, + "where": "操作中", + "evidence_zh": "观察：视频 35.8–36.12 s 机器人在台前弹簧板附近前倾靠向跳马，未从台面上方越过。log step 126 显示停止行走命令后回合已结束，下一次提交返回 EpisodeOver；log step 128 的第 6 回合服务裁判明确以非手部触台判负，阶段为 0/4。" + }, + "unmet": { + "vault_landed_stable": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 36.12, + "log_step": 128, + "evidence_zh": "观察：视频 36.0–36.12 s 机器人向跳马近沿前倾并停在台前，未越过；log step 128 的机器人服务返回非手部触台的终止原因，确认这是与固定跳马的非法碰撞，而非仅仅未完成跳跃。具体碰撞部位无法从远景分辨。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志 / 视频", + "evidence_zh": "推断：接近跳马的停止与姿态控制未能让机器人在碰台前稳住。log step 123 的最终脚本先向 walk 模式提交 80 行零速度命令（dt=0.01 s），随后才抬臂寻触台面；log step 126 中最终回合从 W_walk 直接进入 W_stopped 后即返回 EpisodeOver，没有 W_raise 或 W_press。视频 35.8–36.12 s 同时显示机器人继续向前倾靠台，log step 128 确认非手部触台判负。现有证据不足以进一步区分停止轨迹、反馈跟踪或位置估计误差，保留在控制大类。" + } + ], + "gap_zh": "没有状态日志；视频仅有 640×360 的场馆远景，无法可靠辨认非手部触台的具体链节及是否存在未被裁判接受的瞬时手触。agent 在 log step 135 自述最后回合“膝盖碰台”，但无法用画面独立核实，因此不把膝部认定为确定的碰撞端；根因的控制子类也无法确定。前五回合的手触台与力矩读数属于会话测试，不计入本次评分动作。" + }, + "summary_zh": "最后第 6 回合中，机器人沿助跑道行进并踏上台前弹簧板，但在视频约 36.0–36.12 s 前倾碰台，未完成撑越并落垫站稳，节点最终为 0/1；服务裁判确认非手部触台且四阶段均为 0。停止与姿态控制未在碰撞前稳住机器人，回合在抬臂寻触台动作执行前结束。无状态日志且视频为远景，具体碰撞链节及更细的控制根因无法确认。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与证据一致：单节点未达成，服务裁判（第6回合，3613控制步，非手部触台，阶段0/4）判负；断点、碰撞现象、控制根因均有支撑且未过度断言细节。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:37:53Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-standard--akrvnjk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-standard--akrvnjk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b958d08a36833d0d1911052293a3db5e7990f3db71a07672013ea247a7c5def6", + "video_sha256": "dd912a629342a65eab8a5e68822bddb5aa65103b1b21ed43809d07253528d5e2", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-standard--kkqm5jg.json b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-standard--kkqm5jg.json new file mode 100644 index 0000000000000000000000000000000000000000..e9e822d2e8a939b913e7e29bcaa6310730302ecf --- /dev/null +++ b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-standard--kkqm5jg.json @@ -0,0 +1,179 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-vault-i00-standard--kkqm5jg", + "taskKey": "embodied-olympics-fun/vault", + "dag_sha256": "a1f52ddbddb968aa861d1edbedb34b470d89b71f3c09eecdf567d803c9dea268", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 3930, + "sim_steps": 7568, + "calls": 48, + "rows": 7568, + "resets": 1, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 1381.7, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.667, + "peak_processes": 7, + "peak_disk_gb": 0.312, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-vault-i00-standard--kkqm5jg/replay.mp4", + "duration_s": 39.32, + "fps": 25.0, + "frames": 983, + "sha256": "7036d598c4eb91939b13f05e7da783bd359cf2e44aa4b7b1140ab393759714f5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_landed_stable": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 44, + "text_zh": "观察：视频 0.0 s 机器人从助跑道起点站立出发，随后沿跑道走向跳马；log step 44 调用在线服务 reset 开始 episode 2。log step 32–33 的非手触台判负属于 reset 前的 episode 1，不是本视频的评分回合。" + }, + { + "t": 37.2, + "log_step": 50, + "text_zh": "观察：视频 35.0–38.2 s 机器人在跳马近侧弹簧板上小步调整，身体仍在台前，远侧蓝色落地垫上没有机器人；未见完成撑越或在远侧落垫。log step 48、50、53、56 均为在线 walk 指令。" + }, + { + "t": 39.28, + "log_step": 66, + "text_zh": "观察：视频 38.8 s 左右机器人在弹簧板上向后倾倒，视频 39.28 s 结束帧上身已接近水平，仍位于台前，撑越及远侧站稳均未完成。log step 66 的在线服务状态为 episode=2、control_steps=3930、done=False；log step 58–65 的手触台结果来自 agent 自建 local_sim，不是在线评分回合。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–34.0 s 机器人双脚交替支撑跑道地面前行；视频 35.0–38.6 s 双脚在台前弹簧板上支撑和调整，随后向后失衡。未观察到手撑台承重或远侧落垫接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "vault_landed_stable", + "t": 38.8, + "log_step": 56, + "where": "操作中", + "evidence_zh": "观察：视频 38.6–39.28 s 机器人在台前弹簧板上向后失衡并倒下，未越过跳马。log step 56 的最后一次在线运动是持续 90 个控制步的 walk，log step 66 确认评分回合仍为 episode 2 且未完成；其后未再向该回合提交恢复动作。" + }, + "unmet": { + "vault_landed_stable": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 38.8, + "log_step": 56, + "evidence_zh": "观察：视频 38.6 s 机器人仍在弹簧板上，视频约 38.8 s 躯干持续向远离跳马的方向倾斜，视频 39.0–39.28 s 髋部下降、上身接近水平，失去直立支撑；没有完成撑越。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：log step 56 的脚本在弹簧板上继续调用 walk，给定前进速度 0.65 米/秒、横向速度 -0.05 米/秒和转向速度 -0.35 弧度/秒；对应最后一段运动中，视频 38.6–39.28 s 机器人向后倾倒而未保持支撑。当前行走控制未能维持板上平衡；缺少关节跟踪、足底受力和接触记录，无法进一步确定是轨迹、反馈还是具体参数问题。", + "source_zh": "日志" + } + ], + "gap_zh": "没有状态日志，视频只有远景，无法确定足底滑动、接触力及具体控制失稳机制。log step 67 出现 Gemini 提供方过滤中断，log step 66 此前仍为 done=False，故没有在线裁判的最终分阶段结果；但评分视频中断前已出现可见、未恢复的向后倾倒，按此前物理失败标注。log step 58–65 为 agent 自建仿真测试，其触台结果不能补作评分视频进度。" + }, + "summary_zh": "评分回合为 reset 后的 episode 2：机器人沿跑道走到台前弹簧板，未完成撑越、远侧落垫和站稳，节点最终为 0/1。视频约 38.8 s 机器人在板上向后失衡，断点为撑越跳马站稳，现象为平衡，根因归于未能维持板上支撑的控制。会话随后被提供方过滤中断；没有状态日志或在线裁判最终阶段结果，具体失稳机制无法细分。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频一致：视频 35–39.28 s 机器人在台前弹簧板上向后倾倒，未触台、未越过；节点 false、断点、平衡现象与控制根因（标为推断）均有证据支持，validator 通过。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:33:31Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-standard--kkqm5jg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-standard--kkqm5jg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4edf128a8ea1dded9d094b6414e8eac3ccef138b02ab72726ca4dd3d11504a15", + "video_sha256": "7036d598c4eb91939b13f05e7da783bd359cf2e44aa4b7b1140ab393759714f5", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-standard--pegmrww.json b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-standard--pegmrww.json new file mode 100644 index 0000000000000000000000000000000000000000..fae967b89981801a70e2a49b72d12781d06a57e5 --- /dev/null +++ b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-standard--pegmrww.json @@ -0,0 +1,191 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-vault-i00-standard--pegmrww", + "taskKey": "embodied-olympics-fun/vault", + "dag_sha256": "a1f52ddbddb968aa861d1edbedb34b470d89b71f3c09eecdf567d803c9dea268", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 8000, + "sim_steps": 33868, + "calls": 1991, + "rows": 2206, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 7094.3, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 3, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 6.429, + "peak_processes": 29, + "peak_disk_gb": 0.887, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-vault-i00-standard--pegmrww/replay.mp4", + "duration_s": 80.04, + "fps": 25.0, + "frames": 2001, + "sha256": "fe1cca95aa55c45d9e3c49a6234e7614a49957f8274a85364f7fd4a938c0cb64" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_landed_stable": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 163, + "text_zh": "观察：视频从助跑道起点开始，机器人沿助跑道接近跳马；log step 163 调用含 reset 的绕板接近脚本，log step 164 服务状态为 episode=6、resets_left=0，故仅此最终回合对应评分视频，之前五回合不计入节点进度。" + }, + { + "t": 49.0, + "log_step": 214, + "text_zh": "观察：视频 47.0–54.6 s 机器人站在跳马近侧，手臂向台面伸出，手端与棕色台面顶部相接；log step 214 的最终服务裁判返回 stages_reached=1、outcome=time，确认最终回合记录了手部支撑阶段，但尚未越过、落垫和站稳。" + }, + { + "t": 55.0, + "log_step": 171, + "text_zh": "观察：视频 54.8–55.6 s 机器人从台前站姿向后侧倾倒，身体降低并翻倒在弹簧板附近，骨盆没有从台面上方越过；视频 56.0–58.0 s 仍在台前低位翻动。" + }, + { + "t": 70.5, + "log_step": 210, + "text_zh": "观察：视频 70.5 s 机器人短暂抬高躯干，视频 70.75–71.0 s 再次倒下；视频 79.0–80.0 s 仍在跳马近侧低位，远侧落地垫没有机器人站立，整个撑越站稳事件未发生。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：机器人双脚依次支撑助跑地面完成接近，视频 43.0–54.6 s 在跳马近侧调整腿部和站姿；失衡后腿部与躯干在台前低位接触支承面。远景无法细分弹簧板与地板上的每次接触。" + }, + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "观察：视频 47.0–54.6 s 手端伸至棕色台面顶部；log step 214 的裁判 stages_reached=1 确认至少一只手有效触顶。记录手掌对台面的支撑接触，远景无法辨清左右手及两手是否同时承重。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "vault_landed_stable", + "t": 55.0, + "log_step": 171, + "where": "操作中", + "evidence_zh": "观察：视频 54.8–55.6 s，机器人在跳马近侧调整腿部支撑时失衡，向后侧翻倒，尚未越台。视频 70.5 s 的短暂抬身随后再次倒下，至视频 80.0 s 仍未完成撑越落地站稳；log step 214 服务裁判仅记录 1/4 阶段。" + }, + "unmet": { + "vault_landed_stable": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 55.0, + "log_step": 171, + "evidence_zh": "观察：视频 54.8–55.6 s 机器人由站立明显侧倾并向后倒，躯干落到台前低位，视频 56.0–58.0 s 继续翻动；视频 70.5–71.0 s 的恢复也未保持站立。log step 171 服务返回 episode=6、control_steps=5510，骨盆 IMU 计算侧倾约 -1.08 弧度，与视频倒姿一致。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：最终回合的腿部支撑转换控制未保持全身稳定。log step 165 的脚本让机器人左脚承重、右脚向后移动并降低至弹簧板位置；log step 169 随后执行脚尖姿态调整，log step 170 显示该阶段触发姿态阈值并返回 END False。log step 171 改用侧向行走指令后，服务返回的骨盆侧倾已约 -1.08 弧度，视频 54.8–55.6 s 同时显示机器人倾倒。此后多次关节与行走控制仍未恢复稳定站姿（log steps 172–214；视频 56.0–80.0 s）；证据支持控制失稳，但不足以确定具体增益、逆解或接触模型哪一项出错。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "只有 venue 远景视频，没有状态日志或成功示范；手部在画面中仅占数个像素，不能细分左右手、双手同时承重与精确触顶时刻，故手部接触仅记录裁判确认的至少一只手。弹簧板上的具体足部接触、支承力和跟踪误差未被直接记录，不能进一步区分失稳的控制子类。" + }, + "summary_zh": "最终评分为第六回合：机器人走到跳马近侧，裁判确认手部支撑阶段，但未完成越台、落垫和站稳，语义节点最终为 0/1。视频约 55.0 s 的腿部支撑调整中机器人失衡倒下，后续恢复未使撑越任务完成，根因归为控制失稳。远景分辨率低且无状态日志，左右手接触和具体失稳机制不能细分。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点 vault_landed_stable 未达成、断点（操作中，约 55 s 倒下）、平衡现象和控制根因均与 log（control_steps 5510 对应视频 55.1 s，step 214 的 FINAL time 1 / 1 of 4 stages）及视频一致；远景下手部接触无法由画面确认，但服务阶段数支持，标注措辞已说明。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:32:53Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-standard--pegmrww/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-standard--pegmrww/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "25589bcd9a278642b1147e23b5f9dcec7e84b6bad2e2929fd6607523779765e3", + "video_sha256": "fe1cca95aa55c45d9e3c49a6234e7614a49957f8274a85364f7fd4a938c0cb64", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-standard--qnzzuaf.json b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-standard--qnzzuaf.json new file mode 100644 index 0000000000000000000000000000000000000000..94951c46392bc7dc75c7a760f904142830978bfc --- /dev/null +++ b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-standard--qnzzuaf.json @@ -0,0 +1,185 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-vault-i00-standard--qnzzuaf", + "taskKey": "embodied-olympics-fun/vault", + "dag_sha256": "a1f52ddbddb968aa861d1edbedb34b470d89b71f3c09eecdf567d803c9dea268", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 3699, + "sim_steps": 133442, + "calls": 1073, + "rows": 130712, + "resets": 31, + "reset_budget": 50, + "sim_startups": 1, + "elapsed_s": 7189.1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-vault-i00-standard--qnzzuaf/replay.mp4", + "duration_s": 37.0, + "fps": 25.0, + "frames": 925, + "sha256": "f6e2d0e7b541879c3a7776259ae27a7a5a38222ef35fbb641a895f76a6ea9d1b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_landed_stable": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0–34.0 s，机器人从跑道起点向跳马行进，在弹簧板前伸出双臂；此时尚未越过跳马。" + }, + { + "t": 35.4, + "log_step": null, + "text_zh": "观察：视频 34.8–35.6 s 的放大帧中，可见侧手/腕末端抵在棕色台面近沿附近，脚从弹簧板附近蹬起，骨盆始终留在台前；视频 35.6–36.2 s 躯干向前倾倒至接近水平并落下。推断：至少一侧手/腕端形成短暂撑台接触，但远景无法确认左右手各自的接触及其是否满足有效触顶高度。" + }, + { + "t": 36.96, + "log_step": 430, + "text_zh": "观察：视频 36.0–36.96 s，机器人倒在跳马近侧的弹簧板及地面附近，腿部翻起，蓝色落地垫上始终没有机器人；未出现越台、脚先落垫和站稳过程。log step 425–426 重置并运行 episode 32，log step 430 最后追加步行命令后服务仍返回 done=False、outcome=None；评分器最终 live_success=0、graded_by_live=1。视频锚点直接取自帧，未由 agent 工作时间换算。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "支撑", + "note_zh": "推断：视频 34.8–35.6 s，可见侧固定手掌垫/腕末端抵住跳马台面近沿，身体前移时形成短暂支撑，未抓握。另一侧手被遮叠，无法确认是否同时承重，也无法核实有效触顶高度。" + }, + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0.0–34.8 s，机器人双脚交替支撑跑道，随后踏上弹簧板附近；视频 35.6–36.96 s 翻倒，躯干落在台前板面/地面附近。腿部蹬伸、腾空和翻倒依次发生，没有脚部落在远侧蓝垫上的支撑。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "vault_landed_stable", + "t": 35.6, + "log_step": 426, + "where": "操作中", + "evidence_zh": "观察：视频 35.2–35.6 s，机器人在跳马近侧蹬起并前倾，骨盆没有升到台面上方；视频 35.8–36.2 s 身体转成近水平并摔落在台前，至视频 36.96 s 仍未越台，撑越步骤没有修复。log step 426 对应最后一次 episode 32 的低层蹬伸序列，之前回合的手撑台阶段记录不计入本次进度。" + }, + "unmet": { + "vault_landed_stable": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 35.6, + "log_step": null, + "evidence_zh": "观察：视频 35.4–36.2 s，机器人从台前前倾姿态持续翻倒，躯干下降至板面/地面附近；视频 36.4–36.96 s 腿部向上翻起而躯干仍倒伏，没有恢复脚部站立。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 406, + "source_zh": "日志 / 视频", + "evidence_zh": "推断：机器人未能控制蹬伸与撑台期间的全身姿态。log step 406 的控制脚本以关节目标、膝踝力矩和加速度阈值组织二次蹬伸；log step 425–426 在最后回合实际运行该脚本，随后 log step 427 追加髋腰屈曲、log step 430 切回步行。对应视频 35.2–36.96 s，机器人前翻摔落且恢复命令没有使其越台或站起。证据支持全身控制失败，但不足以区分具体接触设计、轨迹求解、反馈或参数问题。" + } + ], + "gap_zh": "本次没有状态日志或成功参考视频，评分视频仅有远处 venue 全景；放大后仍不能分辨左右掌垫各自的接触点、有效触顶高度及精确承重，手/腕支撑接触为结合连续帧的推断。最后回合的服务输出 stages=None，没有原生阶段计数可核对；不将早先测试回合的 stage 1/4 当作本回合结果。能确认未越台并翻倒，但不能进一步定位控制子类。" + }, + "summary_zh": "评分采用最后一次在线回合（episode 32）；机器人走到弹簧板附近并尝试撑台起跳，但没有越过跳马，撑越落地站稳节点为 0/1。视频约 35.6 s 起机器人前翻，随后摔落在台前，至视频 36.96 s 仍倒伏，现象为平衡失败，根因证据支持控制层级。远景无法核实左右手的有效触顶接触和承重细节，且没有状态日志或本回合原生阶段计数。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点未达成（0/1）、断点（vault_landed_stable，视频约35.6 s，前翻摔倒在台前）、平衡现象与未细分的“控制”根因，与视频帧及 log step 426/427/430（episode 32，仿真 t≈视频 t）一致；手撑接触已标为推断。未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:46:35Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-standard--qnzzuaf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-standard--qnzzuaf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a85d12dd866967f8f373428764d5db99c2bda9c3282d5079067bcb4e1f231f88", + "video_sha256": "f6e2d0e7b541879c3a7776259ae27a7a5a38222ef35fbb641a895f76a6ea9d1b", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +} diff --git a/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-standard--yi2per2.json b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-standard--yi2per2.json new file mode 100644 index 0000000000000000000000000000000000000000..ee1788249f10caaa310b0790a03884f06ddf5c99 --- /dev/null +++ b/phase2/embodied-olympics-fun/vault/trajectories/embodied-olympics-fun-vault-i00-standard--yi2per2.json @@ -0,0 +1,182 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "embodied-olympics-fun-vault-i00-standard--yi2per2", + "taskKey": "embodied-olympics-fun/vault", + "dag_sha256": "a1f52ddbddb968aa861d1edbedb34b470d89b71f3c09eecdf567d803c9dea268", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 4303, + "sim_steps": 28432, + "calls": 832, + "rows": 2845, + "resets": 5, + "reset_budget": 5, + "sim_startups": 1, + "elapsed_s": 2577.4, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.651, + "peak_processes": 12, + "peak_disk_gb": 2.933, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/embodied-olympics-fun-vault-i00-standard--yi2per2/replay.mp4", + "duration_s": 43.04, + "fps": 25.0, + "frames": 1076, + "sha256": "b9ec3e9294e8103365fdaf419636cdc7c699e93d6c2322e33612740124536816" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "vault_landed_stable": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0.0 s 机器人位于助跑道远端，尚未触台、越台或落垫；视频 0–39.0 s 的逐秒画面显示机器人持续步行接近跳马，没有完成撑越。" + }, + { + "t": 40.2, + "log_step": 59, + "text_zh": "观察：视频 40.2 s 机器人仍直立在跳马近侧、弹簧板附近；log step 59 中机器人服务 status 返回 episode=6、control_steps=4020、done=False、resets_left=0。结合 log step 58 的最后一次 reset 和后续未再重置的记录，评分视频对应最后的第六回合，先前五回合及本地仿真测试不计入此节点。" + }, + { + "t": 43.0, + "log_step": 61, + "text_zh": "观察：视频 41.2–43.0 s 的密集画面及视频 42.0–42.96 s 的逐帧画面显示机器人在跳马近沿旁步行侧移，骨盆仍低于台面，没有从台上越过或踏上远侧蓝垫；视频 43.0 s 最后一帧仍在近侧直立。log step 61 的步行提交结束后，服务返回 episode finished、reason failed；该脚本尚未执行后面的 joints 撑越提交。" + } + ], + "contact_actual": [ + { + "who": "腿/躯干", + "how": "支撑", + "note_zh": "观察：视频 0–43.0 s，机器人的左右脚交替支撑助跑区地面，完成向跳马前进及末段侧移；未出现落地垫上的脚部支撑。远景中脚与弹簧板的细微接触及手臂与台沿是否接触无法确认，不据计划补记双手撑台。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "vault_landed_stable", + "t": 42.8, + "log_step": 61, + "where": "操作中", + "evidence_zh": "观察：视频 40.2–43.0 s，机器人仍在跳马近侧步行调整，视频约 42.8 s 已贴近台沿而骨盆未升至台面上方；没有起跳撑越、越过远沿或落垫。log step 61 记录第六回合侧移后服务判 failed，随后提交被拒绝；本步骤此后未修复。" + }, + "unmet": { + "vault_landed_stable": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "步态", + "t": 42.8, + "log_step": 61, + "evidence_zh": "观察：视频 30.0–40.2 s 机器人从助跑道侧方接近跳马，视频 40.2–43.0 s 仍以步行侧移向近沿调整，身体保持直立、骨盆低于台面，全段未形成越台跳跃，也未摔倒；log step 61 的服务回合失败发生在 walk 指令期间。推断：撑越动作被未完成的助跑对位截断，属于未跌倒的行走路线／步态未达要求。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "log_step": 58, + "evidence_zh": "观察：log step 58 的最终回合脚本先执行 30.0 s 仅用 IMU 航向反馈的前进，再按蓝色落地垫图像质心作侧向闭环；其输出在持续 vy=-0.25 时，质心列仍约为 361–391（脚本目标列为 240）。log step 61 加大侧移至 vy=-0.5，质心从 379 降到 279，但服务在该步行调整期间判负；视频 38.0–43.0 s 同样显示机器人已到跳马近侧才继续侧移，直到结束仍未起跳。推断：接近跳马的侧向位置反馈未及时消除路线偏差，使机器人在完成对位与切换撑越前进入台沿附近并终止；此归因针对助跑对位，不推断尚未执行的撑越控制能力。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "观察：inputs/ 中无状态日志或成功示范，评分视频仅有远景。视频 42.0–43.0 s 放大后仍不能分清手、前臂、躯干与台沿的具体接触，也不能量出骨盆是否已进入台面纵向范围；log step 61 的服务只报 failed，未给出具体违规类型。agent 自述“碰到台侧”（log step 62）不能代替接触证据，因此不判定非手部碰撞或具体裁判触发条件；log step 63 所称阶段 0/4 仅作 agent 汇报，节点未达由视频中未越台、未落垫直接判定。" + }, + "summary_zh": "评分对象是最后的第六回合：机器人步行接近跳马并在近侧侧移，直到视频 43.0 s 仍未撑越、落垫或站稳，唯一节点未完成。断点在撑越步骤的助跑对位阶段，侧向反馈未及时消除路线偏差，回合在步行调整期间结束。远景及缺少接触状态日志使具体碰撞部位和终止违规类型无法确定，不采纳 agent 对碰台的自述作为已证事实。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "评分对象为最后一回合（log step 59 status episode=6，resets_left=0），唯一节点未达成、断点和现象/根因与视频（远景，机器人在近沿旁步行侧移，43.0 s 仍未触台/越过/落垫）及 log step 58 输出一致；终止具体违规类型未确定的处理合理。时间均标明时钟，无转换。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-31T00:46:42Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-standard--yi2per2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/embodied-olympics-fun-vault-i00-standard--yi2per2/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5b0badfa0a26e59111fd72d671912d8a096c55b2ae9a90fd95853bf832d8f6bd", + "video_sha256": "b9ec3e9294e8103365fdaf419636cdc7c699e93d6c2322e33612740124536816", + "states_sha256": null, + "video_choice": "HF replay.mp4" + } + } +}